A-72
APPENDIX
A-5MECHATROLINK-II Communication Commands
- SV Series User’s Manual -
Speed control (3CH)[VELCTRL]
To execute speed control.
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : < Communication period
Sub command : Available
● Soft start
A soft start can be achieved using the "speed control accelerate time"(VEL_02) or "speed control decelerate time"
(VEL_03).Soft start refers to change certain fixed acceleration/deceleration into speed command automatically, so as
to smooth acceleration / deceleration of motor.
The respective acceleration can be set up at acceleration and deceleration.
■Relevant parameters
Byte 0 1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16
Command 03H 25H -
OPTION P_TLIM/TFF
N_TLIM VREF
SEL_MON1/2
-
WDT
Response 01H 25H
ALARM STATUS
MONITOR1 MONITOR2
SEL_MON1/2
IO_MON RWDT
Byte
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Command Sub command field Can't use
Response Sub command field Can't use
[Speed command
acceleration time]
(VEL_02)
When soft start is not used
When soft start is used
[Speed command
acceleration time]
(VEL_03)
Parameter
Category
Name Set value/setting unit Default
Enable
timing
VEL_02 Basic Speed control accelerate time 0 to 10000(ms) 0
After changing
VEL_03 Basic Speed control decelerate time 0 to 10000(ms) 0
TUN_34 Special *Torque feedforward
1: Disable
2: Enable
1
When power is
ON again
ML_69 Special *Pos ctrl cmd TFF/TLIM
0: Disable
1: Enable
1
TRQ_02 Basic P-torque limit 1 0 ~ 800(%) 800
After changing
TRQ_03 Basic N-torque limit 1 0 ~ 800(%) 800
TRQ_06 Basic *Torque limit method
0: Only TrqLim1 is valid
1: TrqLim2 is valid
(P/NTL)
2:
P_TLIM, N_TLIM are valid
3: P_TLIM, N_TLIM
are valid (P/NTL)
4: TrqLim2 & PN_TLIM
valid (P/NTL)
0
When power is
ON again
TRQ_07 Extend P-torque limit 2 0 ~ 800(%) 100
After changing
TRQ_08 Extend N-torque limit 2 0 ~ 800(%) 100
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