Moons' MBDV Series - Page 4

4
Rev. 2.0
07/27/2023
MBDV Hardware Manual
7 Control Modes and Functions ...................................................................................59
7.1 I/O signal setting ................................................................................................59
7.1.1 Input Signal Conguration ........................................................................59
7.1.2 Output signal conguration .......................................................................60
7.1.3 Servo Enable ............................................................................................ 61
7.1.4 Alarm Reset .............................................................................................. 61
7.1.5 CW, CCW Limit .........................................................................................62
7.1.6 Gain Select ............................................................................................... 62
7.1.7 Emergency stop ........................................................................................64
7.1.8 Fault output ..............................................................................................65
7.1.9 Warning output ........................................................................................66
7.1.10 Motor brake control .................................................................................67
7.1.11 Servo Ready Output ...............................................................................68
7.1.12 Servo-on Status Output ......................................................................... 68
7.1.13 Dynamic position error output .................................................................69
7.1.14 Software limit output ............................................................................... 70
7.1.15 Timing diagram ....................................................................................... 71
7.2 Position control mode ........................................................................................ 72
7.2.1 Position control mode conguration .........................................................72
7.2.2 Command smoothing lter setting ............................................................ 74
7.2.3 Positioning complete signal ...................................................................... 75
7.2.4 position reached output ............................................................................75
7.2.5 Gain parameter in position mode .............................................................76
7.3 Velocity control mode ........................................................................................77
7.3.1 Velocity control mode conguration ..........................................................77
7.3.2 Zero speed clamp function .......................................................................78
7.3.3 Rotation direction switch ...........................................................................79
7.3.4 Zero speed output ....................................................................................80
7.3.5 Velocity reached output ............................................................................81
7.3.6 Velocity consistent output ......................................................................... 82
7.3.7 Velocity control Mode methods .................................................................83
7.4 Torque control mode ..........................................................................................84
7.4.1 Commanded torque control ..................................................................... 84
7.4.2 Torque command lter .............................................................................. 84
7.4.3 Speed limit in torque mode .......................................................................85
7.4.4 Output during speed limiting .....................................................................86
7.4.5 Torque reaches output ..............................................................................86
7.4.6 Torque consistent output ..........................................................................87
7.5 Torque limit ........................................................................................................88
7.5.1 Torque Limiting Methods ..........................................................................88
7.5.2 Torque limit reached output ....................................................................91
7.6 Encoder feedback output function .....................................................................91
7.6.1 Pulse frequency division output signal pin ................................................91
7.6.2 Pulse frequency division output mode setting ..........................................92
7.6.3 Pulse output gear ratio .............................................................................93
7.7 Dynamic braking ................................................................................................94