User Manual of iSV2-RS Integrated Servo
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CHAPTER 4 CONTROL MODE.............................................................................................................................. 107
4.1 POSITION CONTROL...............................................................................................................................................108
4.1.1 Pulse input and direction settings............................................................................................................109
4.1.2 Electronic Gear Ratio................................................................................................................................110
4.1.3 Position command filter...........................................................................................................................111
4.1.4 Encoder feedback output .........................................................................................................................113
4.1.5 Positioning completed INP signal output.................................................................................................113
4.2 VELOCITY CONTROL...............................................................................................................................................115
4.2.1 Velocity command input control ..............................................................................................................116
4.2.2 Velocity command acceleration/deceleration .........................................................................................118
4.2.3 Velocity reached signal AT-SPEED output ................................................................................................119
4.2.4 Velocity coincidence V-COIN signal output ..............................................................................................119
4.2.5 Zero Speed Clamp ....................................................................................................................................120
4.3 TORQUE CONTROL ................................................................................................................................................121
4.3.1 Torque command input control ...............................................................................................................122
4.3.2 Torque velocity limit.................................................................................................................................123
4.3.3 Torque limit (TL-SEL) ................................................................................................................................124
4.4 HYBRID CONTROL MODE .......................................................................................................................................125
CHAPTER 5 APPLICATION CASE .......................................................................................................................... 126
5.1 GAIN ADJUSTMENT...............................................................................................................................................126
5.2 INERTIA RATIO IDENTIFICATION FUNCTION .................................................................................................................128
5.3 AUTO GAIN ADJUSTMENT .......................................................................................................................................131
5.4 MANUAL GAIN ADJUSTMENT...................................................................................................................................135
5.4.1 Parameters adjustment under different control modes...........................................................................137
5.4.2 Gain switching..........................................................................................................................................139
5.5 3RD GAIN SWITCHING .............................................................................................................................................143
5.6 MODEL FOLLOWING CONTROL ................................................................................................................................144
5.7 FEEDFORWARD GAIN.............................................................................................................................................145
5.7.1 Velocity feedforward................................................................................................................................145
5.7.2 Torque feedforward .................................................................................................................................146
5.8 FRICTION COMPENSATION FUNCTION........................................................................................................................148
5.9 SAFETY FUNCTIONS...............................................................................................................................................149
5.9.1 Max. motor rotational speed limitation...................................................................................................149
5.9.2 Max. duration for motor to stop after disabling......................................................................................150
5.9.3 External brake deactivation output signal BRK-OFF ................................................................................150
5.9.4 Servo stopping mode................................................................................................................................152
5.9.5 Emergency stop function..........................................................................................................................152
5.10 VIBRATION SUPPRESSION .....................................................................................................................................153
5.10.1 Mechanical resonance suppression .......................................................................................................153
5.10.2 End vibration suppression ......................................................................................................................157
5.11 MULTITURN ABSOLUTE ENCODER...........................................................................................................................158
5.11.1 Parameters setting.................................................................................................................................158
5.11.2 Read absolute position...........................................................................................................................159
5.11.3 Absolute Encoder Related Alarm............................................................................................................161
5.12 REGENERATIVE RESISTOR SETTINGS ........................................................................................................................162
