Moons' MBDV Series - Page 122

122
Rev. 2.0
07/27/2023
MBDV Hardware Manual
Group P1-XX: Drive Conguration
Serial number
SCL
instruction
Function Defaults Range Unit E󰀨ective
P1-00 CM Control mode 21 1,15,21 -
E󰀨ective
immediately
P1-02 PM Control Mode on power up 10 8 ~ 10
，
13 -
P1-03 JM Jog Mode 2 1 ~ 2 -
P1-05 GC Current command for Torque Control 0 -3000 ~ 3000 0.1%
P1-06 CC First torque limit 3000 0 ~ 3000 0.1%
P1-07 CV Target Torque 0 0 ~ 3000 0.1%
P1-08 HC Hard stop home current limit 200 0 ~ 3000 0.1%
P1-09 CL Current foldback timer 2000 0 ~ 30000 ms
P1-10 LD Torque limit method 1 1 ~ 5 -
P1-11 DR Rotation direction 0 0
，
1 -
P1-13 PR Protocol 5 1 ~ 511 -
P1-14 TD Transmit delay 2 0 ~ 20 ms
P1-15 BR RS-485 communication baud rate 1 1 ~ 5 -
P1-16 DA RS-485 communication address 32 1 ~ 32 -
P1-17 CO CAN open cnode ID 1 1 ~ 127 -
P1-18 CB CAN open communication baud rate 0 0 ~ 7 -
P1-19 ZR Regenerative resistor resistance 200 10 ~ 32000
Ω
P1-20 ZC Regenerative resistor power rating 40 1 ~ 32000 W
P1-21 ZT Regenerative resistor time constant 1000 0 ~ 8000 ms
P1-24 MA Alarm mask 4294967295 0 ~ 4294967295 -
P1-25 CX
Second torque limit 3000 0 ~ 3000 0.1%
P1-26 CY Third torque limit 3000 0 ~ 3000 0.1%
P1-27 CZ Fourth torque limit 3000 0 ~ 3000 0.1%
P1-28 HT Motor stall protection time 0 0 ~ 30000 ms
P1-29 YV Motor stall sequence when Servo O󰀨 0 0 ~ 5
P1-30 YR Motor stall sequence when fault occurs 0 0 ~ 3
P1-31 YM
The maximum action time of the dynamic
brake during the deceleration process of
the deactivation
500 0 ~ 30000 ms
P1-32 YN
Maximum dynamic deceleration time
when fault occurs
0 0 ~ 30000 ms
P1-34 RT Current ramp limit 1000 0 ~ 3000 0.1%
P1-37 DV Dynamic brake velocity 50 0 ~ 100 rps
P1-38 DW Dumping voltage trigger value 650 20 ~ 800 0.1V
P1-39 ZS Watchdog trigger time 500 0 ~ 10000 ms
P1-40 ZA Action after watchdog is triggered 1 1 ~ 16 1