WEIHONG NK200 - Page 123

Specialized Concentrated Focused
Driver「111」
Para.
No.
Abbr.
Name
Standa
rd
Value
Setting
Range
Unit
Remark
Our system uses: direction + pulse format, the parameters are shown as follows:
PMOD
7
6 5
4 3
2 1
0
Bit
1
0
0
1
1
Bit
0
0
1
0
1
Command Pulse Input Digital Filter
Min. Pulse Width
0.8µs
0.2µs
0.4µs
1.6µs
When bit 7=0
Bit
1
0
0
1
1
Bit
0
0
1
0
1
Command Pulse Input Digital Filter
Min. Pulse Width
3.2µs
0.8µs
1.6µs
6.4µs
When bit 7=1
Bit6 Bit5 Command Pulse Format
Direction + Pulse1 0
0 High Speed
Low Speed (1/4)1
Switch of Digital Filter
4-3
TYPE
Control mode:
*Select one control mode from position, velocity,
and torque modes.
Selection Item
Position
Velocity
Torque
Velo Torq
Posi Torq
Posi Velo
Content
Position control mode
Velocity control mode
Torque control mode
Velocity Torque switch mode
Position Torque switch mode
Position Velocity switch mode
Referring to the switch type, the requisite control
mode can be selected from pin 36 or 35 of the
CN1.
Func3, set Bit7 as 0: pin 36 is enabled.
set Bit7 as 1:pin 35 is enabled.
＄＄＄: standard value varies with the reset
setup (leave factory setting).
6 types
Our system
selects
position
control mode.