5. Commands and Functions - Sanyo Denki America, Inc.

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5. Commands and Functions 5.4 Direct commands 5.4.1 Command for adjustment Command Code: 32 (20h) Data Length: 3 bytes Power Limit (Power Down) DAT No Contents Setting range Setting unit Initial Value DAT1 Positioning completion Current 0 to 7Fh (Setting value (d) /255) X Rated 7Fh limit during SON status current DAT2 Current upper limit during 0 to FFh FFh operation DAT3 Current limit during ALM/STOP 0 to 7Fh 7Fh Sets the Power Limit value (motor excitation current limit) for each status. *The maximum torque limit at stop is 50% of the maximum stored torque. Command Code: 33 (21h) Data Length: 1 byte Gain Parameter 1 DAT No Contents Setting range Setting unit Initial Value DAT1 Gain Parameter 1 0 to Fh 0 Selects the normalized servo parameter. Refer to Section 4 for more information about the adjustment method. * Gain adjustment is necessary for maximizing performance. Command Code: 47(2Fh) Data Length: 1 byte Gain Parameter 2 DAT No Contents Setting range Setting unit Initial Value DAT1 Proportion Gain 0 to FFh 4 DAT2 Integral Gain 0 to FFh 4 DAT3 Gain Select 0,1 0CMD21h Enable 1CMD2Fh Enable 0 Set the detailed Gain than order 21h. Refer to Section 4 for more information about the adjustment method. * Please do not set proportion Gain0. * When set the integral Gain0, please warn speed because it does not arrive at order speed. Command Code: 36 (24h) Data Length: 2 bytes Initial Value: 0, 0 Correction Coefficient DAT No Contents Setting range Setting unit Initial Value DAT1 Correction Coefficient Enable/Disable 0,1 0 DAT2 Correction Coefficient 0 to FFh 0: Coefficient pre-defined inside the amplifier 1: DAT2 setting enable 1PLS/LSB (equivalent of 2000P/R) Corrects the deceleration start position calculated inside the amplifier. A large setting value will result in a gentle deceleration slope near the target position. This function is effective for soft landing, etc. Smaller ← Correlation coefficient → Larger 0 * Note that increasing the correlation coefficient will result in increased In-position time. 5-15
5. Commands and Functions Command Code3927h Data Length3 byte Current Offset DAT No Function Setting range Setting unit Initial Value DAT1 current addition speedLow byte 01194h 1min -1 LSB 64h100min -1 DAT2 current addition speedHih byte DAT3 Current offset 0FF 3A/255/LSB 0 When motor speed is low, an offset is added to an electric current order than setting speed. When single load to a gravity direction is big, and vibration is caused at the time of positioning, vibration is evaded by adding an electric current. 5-16
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M0007302 SANMOTION CLOSED LOOP STEP
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1. 1 Introduction 11 1. 2 Location
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Preface Shipping the product This p
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International Standards Conformity
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Closed Loop Stepping System PB seri
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5. Commands and Functions - Sanyo Denki America, Inc.

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