D1-N Series Servo Drive User Manual Protection Function
8-4 HIWIN MIKROSYSTEM Corp.
(2) Cancel speed, acceleration and deceleration limits
In position mode, when smooth factor is set to 0, it means speed, acceleration and deceleration
limits are cancelled. At this time, the motor moves exactly according to the path planned by the
controller. Users can decide whether to cancel the limit function of the servo drive.
(3) Applicable timing of deceleration of emergency stop (Dec. kill)
In the following occasions, deceleration of emergency stop will be used.
A. In position mode or velocity mode, the motor is disabled and emergency stop is activated.
B. When performing P2P or Relative move in Performance center, Stop motion button is clicked
on.
C. The deceleration after home position is found
D. The deceleration when jog stops.
Deceleration of emergency stop (Dec. kill) is used when high deceleration is required. It is suggested
to use the maximum allowable value of motor to calculate deceleration of emergency stop (Dec. kill).
The formula is as below.
Instantaneous current = min (Instantaneous current of motor, instantaneous current of servo drive)
• Linear motion: Dec. kill = (Instantaneous current × Force constant)/Total mass of object to be
moved
• Rotary motion: Dec. kill = (Instantaneous current × Torque constant)/Load inertia
(4) Smooth motion
Set smooth factor to reduce the impact of motor force to load during acceleration and deceleration.
This parameter is designed by the number of samples in moving average filter, as shown is figure
8.1.3. The relationship between filter time constant and smooth factor is described as below.
• Models which do not support CoE communication: Filter time constant = Smooth factor ×
0.5333 ms
• Models which support CoE communication: Filter time constant = Smooth factor × 0.5 ms
The setting range of smooth factor is from 0 to 500. Higher value means smaller impact. Set smooth
factor to 1 to disable smooth function. Since the impact caused by motor force is decreased as
smooth factor is increased, in some occasions, settling performance can be enhanced. However,
smoother motion may have longer move time, please refer to section 3.7. Find suitable value for
smooth factor by executing test run and tuning on your machine. When smooth factor is set to 0, the
motion protection of the servo drive is disabled. In stand-alone mode, smooth factor cannot be 0.
To Next Page
Loading...
Need help?
General