User Manual - CNC4PC

Chapter 5 Control Functions
5-1 Control Mode Selection. .................................................................................................................5-1
5-2 Torque Mode ....................................................................................................................................5-2
5-2-1 Analog Ratio ..........................................................................................................................5-3
5-2-2 Adjusting the Reference Offset............................................................................................5-4
5-2-3 Linear Acceleration and Deceleration ................................................................................5-5
5-2-4 Output Direction ....................................................................................................................5-6
5-2-5 Internal Torque Limit.............................................................................................................5-7
5-2-6 Limiting Servomotor Speed during Torque Control ..........................................................5-7
5-2-7 Additional Torque Control Functions..................................................................................5-8
5-3 Speed Mode .....................................................................................................................................5-9
5-3-1 Setting Parameters .............................................................................................................5-10
5-3-2 Analog Ratio ........................................................................................................................5-11
5-3-3 Adjusting the Reference Offset..........................................................................................5-11
5-3-4 Limiting Speed with Analog Reference.............................................................................5-12
5-3-5 Encoder Signal Output .......................................................................................................5-12
5-3-6 Smoothing............................................................................................................................5-14
5-3-7 Definition of CW and CCW .................................................................................................5-17
5-3-8 Speed Loop Gain.................................................................................................................5-18
5-3-9 Notch Filter...........................................................................................................................5-19
5-3-10 Limiting Servomotor Torque during Speed Control.......................................................5-21
5-3-11 Gain Switched ..................................................................................................................5-22
5-3-12 Other Functions ...............................................................................................................5-29
5-4 Position Mode................................................................................................................................5-31
5-4-1 External Pulse Command ...................................................................................................5-32
5-4-2 Internal Position Command................................................................................................5-34
5-4-3 Electronic Gear....................................................................................................................5-37
5-4-4 Smoothing Acceleration ....................................................................................................5-41
5-4-5 Definition of Direction.........................................................................................................5-42
5-4-6 Gain Adjustment..................................................................................................................5-42
5-4-7 Deleting the Pulse Offset....................................................................................................5-43
5-4-8 Original Home......................................................................................................................5-44
5-4-9 Other Position Functions ...................................................................................................5-53
5-5 Gain Adjustment............................................................................................................................5-54
5-5-1 Automatic Adjusting...........................................................................................................5-57
5-5-2 Manual Adjusting.................................................................................................................5-60
5-5-3 Improving Resonance.........................................................................................................5-61
5-6 Other Functions.............................................................................................................................5-62
5-6-1 Programmable I/O Functions .............................................................................................5-62
5-6-2 Switching Control Mode .....................................................................................................5-65
5-6-3 Auxiliary Functions .............................................................................................................5-65
5-6-4 Brake Mode ..........................................................................................................................5-66
5-6-5 Timing Diagram of Mechanical Brake ...............................................................................5-66
5-6-6 CW/CCW Inhibit Function ..................................................................................................5-68
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