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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9
-7
Ap
plied
Fu
nct
ion
Ob
jects
9
9-
7-14
3B
71
he
x:
Runa
way Detecti
on
Sets the runaway detection function.
This object is available for the unit version 1.1 or later.
• Selects whether to enable or disable the runaway detection function.
Description of Set Values
• The default value is
1
(enabled).
• When the runaway detection function detects that the Servomotor rotates in the opposite direction
due to incorrect wiring of the motor cable, etc., a Runaway Detected (Error No. 20.00) occurs.
• When the command torque and the motor speed exceed a certain value after Servo ON, this func-
tion detects whether it is normal operation or an error. When the acceleration direction of the Ser-
vomotor does not conform to the direction of the command torque for a certain period of time, this
function determines that the Servomotor rotates in the opposite direction, a Runaway Detected
occurs.
Precautions for Correct Use
• If the gain is lower than the default setting, the runaway detection function may not work.
• If
1st Torque Command Filter
-
Cutoff Frequency
(3233-02 hex) or
2nd Torque Command
Filter
-
Cutoff Frequency
(3234-02 hex) is set to 10 [Hz] or lower, this function may not
work.
• When the Servomotor has a near-no load such that the inertia ratio is 50% or lower, if
1st
Velocity Control Gain
-
Proportional Gain
(3323-01 hex) or
2nd Velocity Control Gain
-
Proportional Gain
(3324-01 hex) is set to a value higher than 400 [Hz], this function may not
work.
• If the Servomotor rotates in the opposite direction by an external force over the momentary
maximum torque of the Servomotor.
9-7-14 3B71 hex: Runaway Detection
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
opera-
tion
3B71
---
Runaway Detec-
tion
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
01 hex
---
1 byte
(U8)
RO
---
---
---
01
Enable
0 to 1
---
1
R
4 bytes
(INT32)
RW
---
---
---
Subindex 01 hex: Enable
Set value
Description
0
Disabled
1
Enabled
Command torque
Detection range
Detection range
Detection range
Nomal operation
Error
Detection range
Motor speed
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......