Xinje DS5E Series, Руководство пользователя

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76
60*(N-1)
Torque setting 32-bit
integer
1/1000 rated Effective mode:
Servo P0-01=8 (Torque Mode) is
always valid.
Servo P0-01 = 9 or 10 (speed mode or
position mode): 60* (N-1)
= 1 is valid.
60*(N-1)
Reverse torque
setting
32-bit
integer
1/1000 rated In speed mode and position mode, it
takes effect when SD2028 = 1. At this
time, the values of servo P3-28 and
P3-29 are invalid.
Torque mode is invalid.
60*(N-1)
torque control
mode setting
16-bit
integer
Servo P0-01 = 9 or 10 (speed mode or
position mode): 60* (N-1)
= 1, the values in 60*
(N-1), 60* (N-1) are valid,
and the values of servo P 3-28, P 3-29
are invalid.
60*(N-1)
Torque feedback
enable bit
16-bit
integer
0: invalid
1: 60*(N-1) shows the
present torque(servo P7-02 should set
to 3).
60*(N-1)
Speed control 32-bit
integer
Pulse
number/second
Note: the details please refer to XNET manual.
5.10.5 Bus speed mode
The speed mode of X-NET bus is a kind of control system which takes speed as the control target and
achieves the action requirement through constant given speed.
Address Definition Type Initial
value
Setting
value
Note
SFD3000
+60*(N-1)
Running mode 16-bit
integer
0 3 0: position ontrol with motion
planning
3: user-defined motion planning
SFD3029
+60*(N-1)
Upper limit of
position
feedback offset
16-bit
integer
2500 -1 Positive integer: upper limit of offset
-1: ignore the offset
Address Definition Type Unit Note
60*(N-1)
Present position 32-bit
integer
Pulse number Absolute position, converted by target
position feedback pulse numbers
60*(N-1)
Present speed 32-bit
integer
Pulse
number/second
Converted by the feedback value
60*(N-1)
Instant speed
setting
Pulse
number/second
Speed setting of single control period