Veichi SD780 Series, Руководство пользователя

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5 Operation
63 SD780 Series Servo Technical Manual
seconds to monitor the battery status. Under-voltage will be reported as an under
voltage alarm (Er. 830). Over time will not be detected. The drive cannot operate
normally in a fault statue.
1- Set the low battery voltage as a warning: Under-voltage (below 3.2V) will be
reported as an under voltage alarm (Al.930). It will always monitor the battery
voltage and can be self-recovery meanwhile enable running is out of restriction.
Pn792
Absolute
encoder
operation
0
～
2 0
－
0x0792 After restart
0- No action.
1- Write motor parameters to encoder EEPROM: After modifying the motor
parameters, you need to perform this operation to write the data to the encoder.
2- Clear multi-turn encoder laps: if you use it initially or replace or insert/remove
the battery during power-down of the drive. After power on, an encoder backup
alarm (Er. 810) will be reported. This parameter is set to 2 in the servo disenable
status (after setting it to 2, the parameter will be Automatically return to 0, this is a
normal phenomenon) and it can only be cleared after re-powered. The alarm
clearing will clear the encoder multi-turn value at the same time, and the single-
turn value will be retained.
Related monitoring data:
Monitoring
code
Monitoring name Range Unit
Communication
address
Un010
Absolute encoder
single-turn value
0x80000000
～
0x7fffffff
Encoder
pulse unit
0xE011
Displays the single-turn absolute position of the absolute encoder.
Un011
Absolute encoder
multi-turn value
0x80000000
～
0x7fffffff
Encoder
pulse unit
0xE011
Display the number of turns of the multi-turn encoder when the multi-turn encoder
is used. After the multi-turn encoder reset operation is performed, the value is 0.
5.1.9 Torque Limit
1.Torque limit method
For the purpose of protecting the machine etc., the output torque can be limited and set by
parameter Pn050. The torque limit can be set in the following five ways:
Pn050 Torque limit method description
Related
parameters
Cautions
！
1. When replacing the battery, please do it when the drive is powered on and the encoder line is connected
normally, otherwise the encoder backup warning will be reported when it is connected again, at which time
the absolute position is lost and it is necessary to clear the multi-turn encoding circle action again.