Manual

Maximum acceleration time(1 : 11.2ms)
When maximum acceleration time r(Max.
Acceleration Time) is 254 = 2.844sec
※ When r(Max. Acceleration Time) is 0 velocity
profile is rectangle
Outside control range
Dead Zone only funtions within position control
Maximum PWM = Sets Maximum Torque
※ Smaller this value, Maximum Servo Torque decreases
※ When PWM is at maximum value, Servo at
current load outputs maximum Torque and
speed
※ When PWM is 0, Servo stopped
※ Maximum PWM value 1023
Select Offset at Saturator curve
※ Not applicapable in nfinite Turn
(continuous turn)
Saturator does not work when
r(Staturation Slop)=0
Actual Saturator Slop = r(Saturator Slop) / 256
※ Not applicapable infinite Turn Mode
(continuous turn)
PWM Offset value
PWM increases by r(PWM Offset) amount
※ When PWM is at maximum value, Servo at
current load outputs maximum Torque and speed
※ When PWM is 0, Servo stopped
※ Maximum PWM value 1023
※ Not applicapable innfinite Turn(continuous turn)
Minimum PWM = Sets Minimum Torque
※ When PWM is at maximum value, Servo at
current load outputs maximum Torque and
speed
※ When PWM is 0, Servo stopped
※ Maximum PWM value 1023
Sets overload activation point
External force divided into 0~1023 steps,
Overload error when force > r(Overload PWM
Threshold) is exerted for period longer than
r(Overload Detection Period)
Not activated when This value is > 1023
Minimum operational angle
When requested position angle is less than
r(Min. Position), “Exceed Allowed POT Limit”
activated. Actual operation is limited to
r(Min. Position)
Maximum operational angle
When requested position angle is greater than
r(Max. Position), "Exceed Allowed POT Limit"
activated. Actual operation is limited to
r(Max. Position)
구분 NO Bytes EEP ADDR RAM ADDR Description
Acceleration ratio regarding velocity Profile
Ratio of operation time of Motion command
(I_JOG, S_JOG), %
Acceleration ratio is same as decceleration ratio
Maximum r(Acceleration Ratio) value is 50
Ex) When operating time is 100ms and
r(Acceleration Ratio) is 20 : Acceleration
time is 100 X 0.2 = 20ms
※ When r(Acceleration Ratio)is 0, speed
profile is rectangle
※ When r(Acceleration Ratio) is below 50,
velocity profile is triangle
Acceleration Ratio
Max. Acceleration Time
Dead Zone
Saturatior Offset
Saturator Slope
PWM Offset
Min. PWM
Max. PWM
Overload PWM
Threshold
Min. Position
Max. Position
1
1
1
1
2
1
1
2
2
2
2
14
15
16
17
18
20
21
22
24
26
28
8
9
10
11
12
14
15
16
18
20
22
15
16
17
18
19
20
21
22
23
24
25
RW
27
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW