Moons' MBDV Series - Page 5

5
Rev. 2.0
07/27/2023
MBDV Hardware Manual
7.7.1 Dynamic braking when Servo O󰀨 signal triggered ...................................95
7.7.2 Dynamic braking when driver fault present ..............................................95
7.8 Home function ...................................................................................................95
7.8.1 Back to the origin basic concept ...............................................................97
7.8.2 Introduction to the way of returning to the origin ......................................97
8 Parameter setting ......................................................................................................121
8.1 Parameter classication ..................................................................................121
8.2 List of parameters ............................................................................................121
8.3 Parameter Description .....................................................................................125
8.3.1 Group P0-XX: PID gain setting ...............................................................125
8.3.2 Group P1-XX: Conguration --- Conguration class parameters ...........131
8.3.3 P2-XX: Trajectory--- trajectory planning .................................................138
8.3.4 P3-XX group: Encoder & Step/Dir--- Encoder and input pulse settings .140
8.3.5 Group P5-XX: IO settings ....................................................................... 143
9 Troubleshooting ........................................................................................................150
9.1 List of drive alarms ..........................................................................................150
9.2 Driver Alarm Causes and Solutions .................................................................152
10 Servo gain setting ...................................................................................................156
10.1 Servo tuning process and mode introduction ................................................ 156
10.1.1 Servo tuning ow chart ......................................................................... 156
10.1.2 Introduction to parameter tuning mode .................................................157
10.2 No-Tuning Mode ............................................................................................ 158
10.3 Auto tuning mode...........................................................................................159
10.3.1 Auto-tuned motion prole conditions ....................................................159
10.3.2 Auto-Tuning Flowchart ......................................................................... 160
10.3.3 Start auto-tuning -- software operation on ............................................161
10.4 Advanced Tuning Mode .................................................................................164
10.4.1 Introduction to Advanced Tuning Mode ................................................164
10.4.2 Parameters in Advanced Tuning Mode .................................................165
10.4.3 Servo system parameter description ....................................................166
10.4.4 Gain parameter of speed loop ..............................................................167
10.5 Resonance suppression ................................................................................168
10.5.1 Torque Command Filter ........................................................................ 168
10.5.2 Notch Filters .........................................................................................169
10.5.3 Setting the notch lter manually ...........................................................171
10.6 End Vibration Suppression ............................................................................ 178
10.7 External Vibration Suppression .....................................................................179
11 Connect us ...............................................................................................................181