Servosila-Device-Reference-0xA020192

mechanism does not hit itself or anything else. The "Work Zone" is applicable to both ROTARY and LINEAR servo
drives.
The work zone is a "multi-turn" one when a ROTARY encoder is used. In other words, the work zone is not limited to
just 360 degrees of the rotary encoder's resolution. Instead, it logically spans in both positive or negative directions as
many encoder counts as needed. Both Servo Control and Direct Drive Control use the logical work zone's counts at
their references instead of a physical servo encoder's readings. This makes it easier to develop "multi-turn" servo
applications.
# Parameter Units Description CANopen
1
Work Zone: zero
offset
servo
counts
The "Work Zone: zero offset" parameter defines a bias measured in servo
encoder's counts, that is subtracted from a servo encoder's readings to
determine a position within the work zone. This parameter is used to correct
for an offset in the servo encoder's mechanical installation.
FLOAT32,
0x2034,
0xA0,
rw
2
Work Zone: start servo
counts
The parameter "Work Zone: start", measured in servo encoder's counts,
defines a leftmost boundary of the work zone.
FLOAT32,
0x2034,
0xA2,
rw
3
Work Zone: end servo
counts
The parameter "Work Zone: end", measured in servo encoder's counts,
defines a rightmost boundary of the work zone.
FLOAT32,
0x2034,
0xA3,
rw
4
Feature: Enforce
Work Zone
Boundaries
0 or 1 The "Feature: Enforce Work Zone Boundaries" forces the controller to stop
the motion of a servo drive whenever the servo is about to leave the
boundaries of the work zone.
BOOL,
0x2034,
0xA1,
rw
Configuration - Fault Management
The controller automatically stops the electric drive whenever a hardware problem (a fault) is detected. After stopping
the drive, the controller raises one or more "Fault Bits" flags in telemetry, and waits for a "Reset" command to come
from an a parent control system. The controller keeps the motor powered off until the "Reset" command comes.
# Parameter Units Description CANopen
1
Hide Faults bitmask The bit mask hides selected faults thus preventing the faults from stopping the
electric drive whenever the faults occur. Use this feature with high care since
ignored faults might cause troubles. Look for a description of parameter "Fault
Bits" in the telemetry section to know meanings of each of the bits.
UINT16,
0x2044,
0x02,
rw
2 Overcurrent
Limit: Factor
- The controller raises an Overcurrent Fault signal whenever electric current in
any of the motor's phases exceeds a pre-configured "Maximum Continuous
Current" by "Overcurrent Limit: Factor".
For example, if the "Maximum Continuous Current" parameter is 7 A, and the
"Overcurrent Limit: Factor" is 4.0, the controller raises an Overcurrent Fault
signal in "Fault Bits" whenever electrical current in any of the phases reaches
FLOAT32,
0x2044,
0x04,
rw
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