User Manual of iSV2-CAN Integrated Servo
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CHAPTER 4 CONTROL MODE................................................................................................................................ 81
4.1 PROFILE POSITION MODE ........................................................................................................................................81
4.1.1 Pulse...........................................................................................................................................................81
4.1.2 Motion settings ..........................................................................................................................................81
4.1.3 Monitoring settings....................................................................................................................................82
4.1.4 Applications example .................................................................................................................................82
4.2 PROFILE VELOCITY MODE.........................................................................................................................................83
4.2.1 Motion Settings..........................................................................................................................................83
4.2.2 Monitoring settings....................................................................................................................................83
4.3 PROFILE TORQUE MODE ..........................................................................................................................................84
4.3.1 Motion Settings..........................................................................................................................................84
4.3.2 Monitoring settings....................................................................................................................................84
4.4 HOMING MODE......................................................................................................................................................85
4.4.1 Motion Settings..........................................................................................................................................85
4.4.2 Monitoring settings....................................................................................................................................85
4.4.3 Homing mode.............................................................................................................................................86
4.5 EMERGENCY STOP ................................................................................................................................................111
4.5.1 Motion Settings........................................................................................................................................111
4.5.2 Monitoring settings..................................................................................................................................111
CHAPTER 5 APPLICATIONS ................................................................................................................................. 112
5.1 TRIAL RUN ..........................................................................................................................................................112
5.2 INERTIA RATIO MEASURING ....................................................................................................................................113
5.3 NOTCH FILTER (VIBRATION SUPPRESSION) ................................................................................................................115
5.4 AUTO GAIN ADJUSTMENT .......................................................................................................................................117
5.5 3RD GAIN SWITCHING .............................................................................................................................................119
5.6 FRICTION COMPENSATION FUNCTION........................................................................................................................121
5.7 REGENERATIVE RESISTOR SETTINGS ..........................................................................................................................122
5.8 SAFETY FUNCTIONS...............................................................................................................................................123
5.8.1 Max. motor rotational speed limitation...................................................................................................123
5.8.2 Max. duration for motor to stop after disabling......................................................................................123
5.8.3 External brake deactivation output signal BRK-OFF ................................................................................124
5.8.4 Servo stopping mode................................................................................................................................125
5.8.5 Emergency stop function..........................................................................................................................126
5.9 MULTITURN ABSOLUTE ENCODER ............................................................................................................................127
5.9.1 Parameter settings...................................................................................................................................127
5.9.2 Read absolute position........................................................................................................................128
5.9.3 Absolute Encoder Related Alarm..............................................................................................................130
CHAPTER 6 CANOPEN COMMUNICATION .......................................................................................................... 131
6.1 CANOPEN PROTOCOL ...........................................................................................................................................131
6.2 CANOPEN COMMUNICATION PROTOCOL FOR ISV2 SERIES............................................................................................132
6.4 PREDEFINED CONNECTIONS ....................................................................................................................................132
6.5 OBJECT DICTIONARY .............................................................................................................................................133
6.5.2 Object dictionary structure ......................................................................................................................134
6.5.3 Object type...............................................................................................................................................134
