The encoder information stored in the SERVOPACK is used for the encoder information.
• Resolution: 256
• Incremental encoder
4.5.2 Motor Position and Speed Responses
For the test without a motor, the following responses are simulated for references from the host controller according to the gain settings for position or speed control.
• Servomotor position
• Servomotor speed
• Encoder position
The load model, however, will be a rigid system with the moment of inertia ratio that is set in Pn103.
Parameter Meaning When
Enabled Classification
Pn00C
n.0
[Factory setting]
Sets an incremental encoder as an encoder type for the test without a motor.
After restart Setup n.1 Sets an absolute encoder as an encoder type for the test
without a motor.
4.5 Test Without Motor Function
4
Operation
4.5.3 Limitations
The following functions cannot be used during the test without a motor.
• Regeneration and dynamic brake operation
• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig-maWin+.)
• Items marked with "×" in the following utility function table.
Note: : Can be used
× : Cannot be used
Fn No. Contents
Can be used or not Motor not
connected Motor con-nected
Fn000 Alarm history display
Fn002 JOG operation
Fn003 Origin search
Fn004 Program JOG operation
Fn005 Initializing parameter settings
Fn006 Clearing alarm history
Fn008 Absolute encoder multiturn reset and encoder alarm reset ×
Fn00C Offset adjustment of analog monitor output
Fn00D Gain adjustment of analog monitor output
Fn00E Automatic offset-signal adjustment of the motor current detection signal × Fn00F Manual offset-signal adjustment of the motor current detection signal ×
Fn010 Write prohibited setting
Fn011 Servomotor model display
Fn012 Software version display
Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm
occurs ×
Fn014 Resetting configuration error in option modules
Fn01B Vibration detection level initialization × ×
Fn01E Display of SERVOPACK and servomotor ID
Fn01F Display of servomotor ID in feedback option module
Fn020 Origin setting ×
Fn030 Software reset
Fn200 Tuning-less levels setting × ×
Fn201 Advanced autotuning × ×
Fn202 Advanced autotuning by reference × ×
Fn203 One-parameter tuning × ×
Fn204 Anti-resonance control adjustment function × ×
Fn205 Vibration suppression function × ×
Fn206 EasyFFT × ×
Fn207 Online vibration monitor × ×
4 Operation
4.5.4 Digital Operator Displays during Testing without Motor
4.5.4 Digital Operator Displays during Testing without Motor
An asterisk (∗) is displayed before status display to indicate the test without a motor operation is in progress.
(Example: Status of power to the servomotor is OFF)
Note: The test without a motor status is not displayed during alarm occurs (A.).
Display Status
*RUN Power is supplied to the servomotor.
*BB Power to the servomotor is OFF.
*PT NT Forward or reverse run is prohibited.
*P-OT Forward run is prohibited.
*N-OT Reverse run is prohibited.
*HBB In hard-wire base block (safety) state.
∗ B B − P R M / M O N − U n 0 0 0 =00 0 0 0 0
U n 0 0 2 =00 0 0 0 0 U n 0 0 8 =00 0 0 0 0 0 0 0 0 0 U n 0 0 D =00 0 0 0 0 0 0 0 0 0
4.6 Limiting Torque
4
Operation
4.6 Limiting Torque
The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
∗ For details, refer to the Σ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.
4.6.1 Internal Torque Limit
This function always limits maximum output torque by setting values of following parameters.
∗ Percentage (%) of rated motor torque.
Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the servomotor.
Torque waveform
Limiting Method Description Reference
Sec-tion Internal torque limit Always limits torque by setting the parameter. 4.6.1 External torque limit Limits torque by input signal from the host controller. 4.6.2 Torque limit with P_TLIM,
N_TLIM commands * Limit torque by using the P_TLIM and N_TLIM commands. – Torque limit with P_CL/
N_CL signals of OPTION Field and P_TLIM/N_TLIM commands *
Combines torque limit methods by using an external input and
P_TLIM and N_TLIM commands. –
Pn402
Forward Torque Limit
Classification Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1%* 800 Immediately Setup
Pn403
Reverse Torque Limit
Classification Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1%* 800 Immediately Setup
Speed Position Torque
Speed Position Torque
Speed Maximum torque
t
Speed
Pn403 Pn402
Limiting torque
t No Internal Torque Limit
(Maximum torque can be output) Internal Torque Limit
4 Operation
4.6.2 External Torque Limit
4.6.2 External Torque Limit
Use this function to limit torque by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals
Use the following input signals to limit a torque by external torque limit.
Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to 3.3.1 Input Signal Allocations.
(2) Related Parameters
Set the following parameters for external torque limit.
∗ Percentage (%) of rated motor torque.
Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or deceleration of the servomotor.
Type Signal
Name Connector
Pin Number Setting Meaning Limit value
Input /P-CL Must be allocated ON
(closed) Forward external torque limit ON The smaller value of these set-tings: Pn402 or Pn404 OFF
(open) Forward external torque limit
OFF Pn402
Input /N-CL Must be allocated ON
(closed) Reverse external torque limit ON The smaller value of these set-tings: Pn403 or Pn405 OFF
(open) Reverse external torque limit
OFF Pn403
Pn402
Forward Torque Limit
Classification Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1%* 800 Immediately Setup
Pn403
Reverse Torque Limit
Classification Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1%* 800 Immediately Setup
Pn404
Forward External Torque Limit
Classification Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1%* 100 Immediately Setup
Pn405
Reverse External Torque Limit
Classification Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1%* 100 Immediately Setup
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
4.6 Limiting Torque
4
Operation