User guide

82 6000 Series Programmer's Guide
Start/Stop Velocity (steppers only)
The Start/Stop Velocity (SSV) command specifies the instantaneous velocity to be used when
starting or stopping. By using the SSV command, there will be no acceleration from zero
units/sec to the SSV value; instead, motion will immediately begin with a velocity equal to
the SSV value.
This command is useful for accelerating past low-speed resonant points, where a full- or half-
stepping drive may stall. With microstepping systems, this command is not necessary.
Disable Drive On Kill (servos only)
Normally, when you issue a Kill command (K, !K, or <ctrl>K) or activate a general-
purpose input configured as a kill input (see INFNCi-C command), motion is stopped at the
hard limit (LHAD/LHADA) deceleration setting and the drives are left in the enabled state
(DRIVE1111).
However, your application may require you to disable (shut down or de-energize) the drives in
a Kill situation to, for example, prevent damage to the motors or other system mechanical
components. If so, set the controller to the Disable Drive on Kill mode with the KDRIVE1
command. In this mode, a kill command or kill input will shut down the drives immediately,
letting the motors free wheel (without control from the drives) to a stop. When the drives are
disabled (DRIVEØ), the SHTNC relay output is connected to COM and the SHTNO relay output
is disconnected from COM. To re-enable the drives, issue the DRIVE1 command.
ZETA610n Internal Drive Setup (610n only)
Several drive setup parameters are unique to the 610n package drive/controllers. The table
below lists the parameters and the relevant setup commands. Refer to the ZETA6104
Installation Guide for details.
Setup Feature Description Command Default Setting
Current Standby Mode
(automatically reduces
motor current at rest)
The automatic standby current feature
that reduces motor current by 50% if no
step pulses have been commanded for a
period of 1 second or more.
(WARNING: torque is also reduced.)
Full current is restored upon the first
step pulse.
DAUTOS DAUTOSØ
(current standby mode
disabled)
Motor Inductance Motor inductance setting required for
Active Damping feature.
DMTIND DMTIND1 (range of ≤ 20.08
mH, for 57-51S, 57-83S &
57-102S ZETA motors)
Motor Static Torque Motor static torque setting required for
Active Damping feature.
DMTSTT DMTSTT1 (range of 0.26-0.72
N-m (36-100oz-in) for 57-51
& 57-83 ZETA motors)
Current Waveform Sets the waveform of the current from
the drive to the motor.
DWAVEF DWAVEF1 (selects the
-4% 3rd harmonic waveform)
Anti-Resonance General-purpose damping circuit;
provides aggressive and effective
damping at speeds above 3 revs/second.
Disabled is Active Damping is enabled.
DAREN DAREN1 (enabled)
Active Damping Extremely power damping circuit for
speeds above 3 revs/second. Requires
configuration for specific motor size and
load (see Installation Guide).
DACTDP DACTDPØ (disabled)
Electronic Viscosity Provides passive damping at speeds
below 3 revs/second. Requires
configuration for specific application
dynamics.
DELVIS DELVISØ (disabled)