![Delta Electronics DVP10MC11T [371/375] Question 4 how is the servo torque limited under canopen mode](/img/pdf.png)
Delta Electronics DVP10MC11T [371/375] Question 4 how is the servo torque limited under canopen mode
![Delta Electronics DVP10MC11T [371/375] Question 4 how is the servo torque limited under canopen mode](/views2/1477203/page371/bg173.png)
Appendix F
F-2 DVP-MC Operating Manual
Under torque mode, set up the parameters as below:
Servo parameter Function Parameter value Meaning
P1-02
Enable/disable
speed limit
1 Speed limit is enabled
P2-10
DI1 terminal
function setting
114
DI1 terminal is for the speed
limit
P2-11
DI2 terminal
function setting
115
DI2 terminal is for the speed
limit
P1-09
Rotation speed of
the servo
10000 (Unit:0.1r/min)
The servo speed is set by
users according to actual
need.
P1-10
Rotation speed of
the servo
20000 (Unit: 0.1r/min)
The servo speed is set by
users
according to actual
need.
P1-11
Rotation speed of
the servo
30000 (Unit: 0.1r/min)
The servo speed is set by
users
according to actual
need.
The rotation speed of the servo can be selected via DI1 and DI2 under torque mode as follows.
Speed selection
Servo parameter setting for switching
DI1 and DI2 on or off
DI2 DI1
The servo runs at the speed
specified by P1-09.
P3-06=F,P4-07=1 0(off) 1(on)
The servo runs at the speed
specified by P1-10.
P3-06=F,P4-07=2 1(on) 0(off)
The servo runs at the speed
specified by P1-11.
P3-06=F,P4-07=3 1(on) 1(on)
Note:
The DI input signals of the servo drive can come from external hardware terminals (DI1 ~ DI8, EDI9 ~
EDI14) or software SDI1 ~ 14 (corresponding to bit 0 ~ bit13 of parameter P4-07), which are determined by
P3-06. If the value of the corresponding bit of P3-06 is 1,the DI input signals come from software SDI
(P4-07); If the vaue of the corresponding bit of P3-06 is 0,the DI input signals come from external hardware
terminals (DI1 ~ DI8, EDI9 ~ EDI14).
Question 4: How is the servo torque limited under CANopen mode
？
Answer:
Under CANopen mode, the servo torque is limited by external input terminals or P4-07 value of the servo drive
when P1-01 servo parameter value is B and 10MC does not use DMC_SetTorque instruction to control the servo
motion.
Under CANopen mode, set up the parameters as shown in the following table：
Servo
parameter
Function Parameter value Meaning
P1-02
Enable/disable
speed limit
10
Torque limit is enabled.
P2-10
DI1 terminal
function setting
116
DI1 terminal is for the torque
limit
P2-11
DI2 terminal
function setting
117
DI2 terminal is for the torque
limit
P1-12
The torque limit of
the servo
10
(Unit:%, percentage of the
rated torque)
The servo torque is set by users
according to actual need.
Содержание
- Dvp mc bus type multi axis motion controller operating manual p.1
- Content p.2
- Function p.7
- Overview of dvp10mc11t p.7
- Components p.8
- Profile and outline p.8
- Overview of dvp10mc11t p.8
- Dimension p.8
- System function p.9
- System architecture p.9
- Introduction to system function p.9
- System function p.10
- Com port p.10
- System function p.11
- 5 10 15 p.11
- System construction structure p.12
- System function p.12
- System function p.13
- System function p.14
- System extension p.14
- System function p.15
- The internal devices of plc module p.16
- The internal devices of mc motion control module p.16
- The internal devices p.16
- System function p.16
- System function p.17
- System function p.18
- System function p.19
- System function p.20
- Plc mc p.20
- Data exchange between mc module and plc module p.20
- System function p.21
- System work principle p.22
- System function p.22
- Axis parameter setting p.22
- System function p.23
- System function p.24
- System function p.25
- System function p.26
- System function p.27
- Relationship between motion program and motion bus p.27
- Program execution principle p.27
- System function p.28
- System function p.29
- System function p.30
- Setting the synchronization cycle period p.30
- System function p.32
- Cnc function p.32
- The protocol for dynamic download of cnc program p.33
- System function p.33
- Cnc program downloading and debugging p.33
- System function p.34
- Message format p.34
- System function p.35
- Cam function p.35
- System function p.36
- System installation p.37
- Electrical feature p.37
- System installation p.38
- System installation p.39
- System connection p.39
- Power and io wiring p.39
- Figure 3 p.39
- Wiring of input and output points p.40
- System installation p.40
- System installation p.41
- Dvp10mc11t p.41
- System installation p.42
- Connected to asda a2 series of servo p.42
- System installation p.43
- Devicenet master p.43
- Connecting the extension module to the left side of dvp10mc11t as devicenet master p.43
- Connecting the extension module to the left side of dvp10mc11t as p.43
- System installation p.44
- Dvp10mc11t p.44
- Dvp 16sp p.44
- Connecting the extension module dvp16sp11t to the right side of dvp10mc11t p.44
- Connecting the extension module dvp16sp11t to the right side of p.44
- Motion control instructions p.45
- Motion control instruction p.45
- Instruction table p.45
- Motion control instructions p.46
- Motion control instructions p.47
- Motion control instructions p.48
- Motion control instructions p.49
- Motion control instructions p.50
- Axis status p.50
- Motion control instructions p.51
- Instruction usage p.51
- Motion control instructions p.52
- Single axis instruction usage p.53
- Motion control instructions p.53
- Mc_moveabsolute p.53
- Motion control instructions p.54
- Motion control instructions p.55
- Dvp mc operating manual 4 11 p.55
- Motion control instructions p.56
- Motion control instructions p.57
- Motion control instructions p.58
- Motion control instructions p.59
- Mc_moverelative p.59
- Motion control instructions p.60
- Motion control instructions p.61
- Motion control instructions p.62
- Motion control instructions p.63
- Mc_moveadditive p.63
- Motion control instructions p.64
- Motion control instructions p.65
- Motion control instructions p.66
- Motion control instructions p.67
- Mc_movesuperimposed p.67
- Motion control instructions p.68
- Motion control instructions p.69
- Motion control instructions p.70
- Motion control instructions p.71
- 28 dvp mc operating manual p.72
- 1 e gear p.72
- Motion control instructions p.72
- Mc_movesuperimposed p.72
- Make a conversion as the following figure shows by adding a virtual axis when the slave axis specified in mc_camin apf_rotarycut_in and apf_flyingshear need modify the position through the execution of mc_movesuperimposed p.72
- Gear slave axis real axis p.72
- Gear master axis virtual axis p.72
- Cam slave axis real axis p.72
- Cam master axis virtual axis p.72
- Cam master axis real axis p.72
- Axis 3 axis 2 p.72
- Axis 3 p.72
- Axis 2 p.72
- Axis 1 p.72
- Motion control instructions p.73
- Motion control instructions p.74
- Mc_movevelocity p.74
- Motion control instructions p.75
- Motion control instructions p.76
- Motion control instructions p.77
- Mc_stop p.77
- Motion control instructions p.78
- Motion control instructions p.79
- Motion control instructions p.80
- Mc_passivehome p.80
- Motion control instructions p.81
- Motion control instructions p.82
- Motion control instructions p.83
- Mc_power p.83
- Motion control instructions p.84
- Mc_reset p.84
- Motion control instructions p.85
- Motion control instructions p.86
- Mc_readstatus p.86
- Motion control instructions p.87
- Mc_readactualposition p.87
- Motion control instructions p.88
- Mc_readaxiserror p.88
- Motion control instructions p.89
- Dmc_readparameter p.89
- Motion control instructions p.90
- Motion control instructions p.91
- Dmc_writeparameter p.91
- Motion control instructions p.92
- Dmc_settorque p.92
- Motion control instructions p.93
- Motion control instructions p.94
- Dmc_changemechanismgearratio p.94
- Motion control instructions p.95
- Motion control instructions p.96
- Motion control instructions p.97
- Dmc_disableaxis p.97
- Motion control instructions p.98
- Motion control instructions p.99
- Dmc_positionlag p.99
- Motion control instructions p.100
- Multi axis instruction p.101
- Motion control instructions p.101
- Mc_camtableselect p.101
- Motion control instructions p.102
- Motion control instructions p.103
- Mc_camin p.103
- Motion control instructions p.104
- Motion control instructions p.105
- Motion control instructions p.106
- Motion control instructions p.107
- Motion control instructions p.108
- Motion control instructions p.109
- Motion control instructions p.110
- Motion control instructions p.111
- Motion control instructions p.112
- Motion control instructions p.113
- Motion control instructions p.114
- Slave position p.115
- Motion control instructions p.115
- Master position 360 p.115
- Slave position p.116
- Motion control instructions p.116
- Master position p.116
- Slave position p.117
- Motion control instructions p.117
- Master position p.117
- Slave position p.118
- Motion control instructions p.118
- Master position p.118
- Motion control instructions p.119
- Motion control instructions p.120
- Motion control instructions p.121
- Motion control instructions p.122
- Mc_camout p.122
- Program example p.123
- Motion control instructions p.123
- Motion control instructions p.124
- Motion control instructions p.125
- Dmc_camset p.125
- Motion control instructions p.126
- Motion control instructions p.127
- Motion control instructions p.128
- Motion control instructions p.129
- Mc_gearin p.129
- Motion control instructions p.130
- Motion control instructions p.131
- Mc_gearout p.131
- Motion control instructions p.132
- Program example p.133
- Motion control instructions p.133
- Motion control instructions p.134
- Mc_phasing p.134
- Motion control instructions p.135
- Sequence diagram p.136
- On again the phase relation between master axis and slave axis returns to the initial status since phase shift is 0 when m10 is on master position is 63000 and slave position master position 63000 p.136
- Motion control instructions p.136
- Instruction figure p.136
- 92 dvp mc operating manual p.136
- Motion control instructions p.137
- Dmc_captureposition p.137
- Motion control instruction p.138
- Motion control instructions p.139
- Motion control instruction p.140
- Motion control instructions p.141
- Motion control instruction p.142
- Motion control instructions p.143
- Dmc_virtualaxis p.143
- Motion control instruction p.144
- Motion control instructions p.145
- Dmc_externalmaster p.145
- Motion control instruction p.146
- Motion control instructions p.147
- Dmc_camswitch p.147
- Motion control instruction p.148
- Motion control instructions p.149
- Motion control instruction p.150
- Motion control instructions p.151
- Logic instruction p.151
- Add_di p.151
- Motion control instruction p.152
- Sub_di p.153
- Motion control instructions p.153
- Mul_di p.154
- Motion control instruction p.154
- Motion control instructions p.155
- Motion control instruction p.156
- Div_di p.156
- Motion control instructions p.157
- Motion control instruction p.158
- Motion control instructions p.159
- Motion control instruction p.160
- Motion control instructions p.161
- Motion control instruction p.162
- Motion control instructions p.163
- Motion control instruction p.164
- Motion control instructions p.165
- Motion control instruction p.166
- Motion control instructions p.167
- Motion control instruction p.168
- Tonr_s p.169
- Motion control instructions p.169
- Motion control instruction p.170
- Ton_ms p.171
- Motion control instructions p.171
- Tof_ms p.172
- Motion control instruction p.172
- Tonr_ms p.173
- Motion control instructions p.173
- Motion control instruction p.174
- Motion control instructions p.175
- Cmp_di p.175
- Motion control instruction p.176
- Motion control instructions p.177
- Mov_di p.178
- Motion control instruction p.178
- Motion control instructions p.179
- Movf_di p.180
- Motion control instruction p.180
- Movf_r p.181
- Motion control instructions p.181
- Motion control instruction p.182
- Motion control instructions p.183
- Mov_bw p.183
- Mov_wb p.184
- Motion control instruction p.184
- Motion control instructions p.185
- Zcp_di p.186
- Motion control instruction p.186
- Motion control instructions p.187
- Motion control instruction p.188
- R_trig p.189
- Motion control instructions p.189
- Motion control instruction p.190
- Motion control instructions p.191
- F_trig p.191
- Motion control instruction p.192
- Motion control instructions p.193
- Motion control instruction p.194
- Sqrt_r p.194
- Motion control instructions p.195
- Mod_di p.195
- Real_to_int p.196
- Real_to_dint p.196
- Motion control instruction p.196
- Motion control instructions p.197
- Int_to_real p.197
- Dint_to_real p.197
- Offset p.198
- Motion control instruction p.198
- Motion control instructions p.199
- Offset_di p.200
- Motion control instruction p.200
- Motion control instructions p.201
- Motion control instruction p.202
- Offset_r p.202
- Rotary cut technology p.203
- Motion control instructions p.203
- Application instruction p.203
- Rotary cut parameters p.204
- Motion control instruction p.204
- Control feature of rotary cut function p.204
- Motion control instructions p.205
- Introduction to the cam with rotary cut function p.205
- Motion control instruction p.206
- Motion control instructions p.207
- Motion control instruction p.208
- Rotary cut instructions p.209
- Motion control instructions p.209
- Apf_rotarycut_init p.209
- Motion control instruction p.210
- Motion control instructions p.211
- Apf_rotarycut_in p.211
- Motion control instruction p.212
- Apf_rotarycut_out p.212
- Motion control instructions p.213
- Application example of rotary cut instructions p.213
- Motion control instruction p.214
- Motion control instructions p.215
- Flying shear technology p.215
- The technological parameters of flying shear function p.216
- Motion control instruction p.216
- Motion control instructions p.217
- Control feature of flying shear function p.217
- Motion control instruction p.218
- Flying shear instructions p.219
- Apf_flyingshear_init p.219
- Motion control instructions p.219
- Motion control instruction p.220
- Motion control instructions p.221
- Apf_flyingshear p.221
- Motion control instruction p.222
- Sequence chart on flying shear function p.223
- Motion control instructions p.223
- Motion control instructions p.224
- Application example of flying shear instructions p.224
- Motion control instructions p.225
- Motion control instructions p.226
- G code input format p.226
- Explanation of g codes and coordinate motion instruction p.226
- Motion control instructions p.227
- Explanation of g code format p.227
- Motion control instructions p.228
- Y position p.229
- X position p.229
- Motion control instructions p.229
- Introduction to g code function p.229
- G90 absolute mode p.229
- Y position p.230
- X position p.230
- Motion control instructions p.230
- G91 relative mode p.230
- Motion control instructions p.231
- G0 rapid positioning p.231
- Position p.232
- Motion control instructions p.232
- Position p.233
- Motion control instructions p.233
- G1 linear interpolation p.234
- Motion control instructions p.234
- Motion control instructions p.235
- F v v v p.235
- Y 60000 p.236
- X 50000 p.236
- Position p.236
- Motion control instructions p.236
- Motion control instructions p.237
- Motion control instructions p.238
- G2 clockwise circular helical interpolation p.238
- Motion control instructions p.239
- Motion control instructions p.240
- Motion control instructions p.241
- Motion control instructions p.242
- Motion control instructions p.243
- Motion control instructions p.244
- Motion control instructions p.245
- G3 anticlockwise circular helical interpolation p.245
- Motion control instructions p.246
- Motion control instructions p.247
- Motion control instructions p.248
- Motion control instructions p.249
- Motion control instructions p.250
- Motion control instructions p.251
- G4 dwell instruction p.251
- G17 g18 g19 to specify the circular interpolation plane p.251
- Motion control instructions p.252
- G37 status judgment instruction p.252
- G36 set reset instruction p.252
- Motion control instructions p.253
- Dmc_nc p.253
- Motion control instructions p.254
- Motion control instructions p.255
- Motion control instructions p.256
- Motion control instructions p.257
- Motion control instructions p.258
- Dnc_group build coordinate motion instruction group p.258
- Coordinate motion instructions p.258
- Motion control instructions p.259
- Motion control instructions p.260
- Motion control instructions p.261
- Absolute relative mode switching instruction p.261
- Motion control instructions p.262
- Dnc_mov g0 rapid positioning instruction p.262
- Motion control instructions p.263
- Dnc_lin g1 linear interpolation instruction p.263
- Motion control instructions p.264
- Circular helical interpolation the coordinates of center of a circle are set p.265
- Motion control instructions p.265
- Motion control instructions p.266
- Motion control instructions p.267
- Circular helical interpolation radius is set p.267
- Motion control instructions p.268
- Plane selection instruction p.269
- Motion control instructions p.269
- Program example p.270
- Motion control instructions p.270
- Position p.271
- Motion control instructions p.271
- Motion control instructions p.272
- Motion control instructions p.273
- Motion control instructions p.274
- After the program is executed the y x curve of the whole process is as below p.275
- After the program is executed the position time curve of the whole process is as below p.275
- Motion control instructions p.275
- Dvp mc operating manual 4 231 p.275
- Motion control instructions p.276
- Y 80000 p.277
- X 70000 p.277
- Position p.277
- Motion control instructions p.277
- Dvp mc operating manual 4 233 p.277
- After the program is executed the y x curve of the whole process is as below p.277
- After the program is executed the position time curve of the whole process is as below p.277
- Troubleshooting p.278
- Led indicator explanation p.278
- Troubleshooting p.279
- Troubleshooting p.280
- Troubleshooting p.281
- Status word instruction p.281
- Troubleshooting p.282
- Error id in motion instructions p.282
- Troubleshooting p.283
- Troubleshooting p.284
- Appendix a modbus communication p.285
- Appendix a p.285
- Appendix a p.286
- Appendix a p.287
- Appendix a p.288
- Appendix a p.289
- Appendix a p.290
- Appendix a p.291
- Appendix a p.292
- Appendix a p.293
- Appendix a p.294
- Appendix a p.295
- Appendix a p.296
- Appendix a p.297
- Appendix a p.298
- Appendix a p.299
- Appendix a p.300
- Appendix a p.301
- Appendix a p.302
- Appendix a p.303
- Appendix a p.304
- Appendix a p.305
- Appendix a p.306
- Appendix a p.307
- Appendix b ethernet communication p.308
- Appendix b p.308
- Appendix b p.309
- Appendix b p.310
- Appendix b p.311
- Appendix b p.312
- Appendix b p.313
- Appendix b p.314
- Appendix b p.315
- Appendix b p.316
- Appendix b p.317
- Appendix b p.318
- Appendix b p.319
- Appendix b p.320
- Appendix b p.321
- Appendix c axis related special registers p.322
- Appendix c p.322
- Appendix c p.323
- Appendix c p.324
- Appendix c p.325
- Appendix c p.326
- Appendix c p.327
- Appendix c p.328
- Appendix c p.329
- Appendix c p.330
- Appendix c p.331
- Appendix c p.332
- Appendix c p.333
- Appendix c p.334
- Appendix c p.335
- Appendix c p.336
- Appendix c p.337
- Appendix c p.338
- Appendix c p.339
- Appendix c p.340
- Appendix c p.341
- Appendix c p.342
- Appendix c p.343
- Appendix c p.344
- Appendix c p.345
- Appendix c p.346
- Appendix c p.347
- Appendix c p.348
- Appendix c p.349
- Appendix c p.350
- Appendix c p.351
- Appendix c p.352
- Appendix c p.353
- Appendix d explanation of homing modes p.354
- Appendix d p.354
- Appendix d p.355
- Appendix d p.356
- Appendix d p.357
- Appendix d p.358
- Appendix d p.359
- Appendix d p.360
- Appendix d p.361
- Appendix d p.362
- Home position when the home switch is on p.363
- Home position p.363
- First phase speed while the home switch is off the motion direction changes and the axis p.363
- First phase speed while the home switch is off the axis moves at the second phase speed p.363
- D 10 dvp mc operating manual p.363
- Circumstance 3 mc_home instruction is executed and the axis moves in the negative direction at the p.363
- Circumstance 2 mc_home instruction is executed and the axis moves in the negative direction at the p.363
- Circumstance 1 mc_home instruction is executed and the axis moves in the negative direction at the p.363
- While the home switch is on the motion direction changes and the axis moves at the p.363
- Axis moves at the second phase speed while the home switch is off and where the first z p.363
- Second phase speed while the home switch is on the motion direction changes and the p.363
- Appendix d p.363
- Second phase speed while the home switch is off and where the first z pulse is met is the p.363
- Pulse is met is the home position p.363
- On the axis moves at the second phase speed and where the first z pulse is met is the p.363
- Moves at the first phase speed while the home switch is off and the negative limit switch is p.363
- Mode 13 p.363
- Mode 12 p.363
- Homing on the home switch negative limit switch and z pulse p.363
- Appendix d p.364
- Appendix d p.365
- Appendix d p.366
- Appendix d p.367
- Appendix e plc module devices p.368
- Appendix e p.368
- Appendix e p.369
- Question 3 how is the servo motor speed limited under torque mode p.370
- Question 2 are there latched devices inside both of the plc module and motion control module in dvp10mc11t p.370
- Question 1 how is the problem of al303 al302 al301 fault alarm in the servo solved while dvp10mc11t is controlling the servo motion p.370
- Appendix f frequently asked questions p.370
- Appendix f p.370
- Question 4 how is the servo torque limited under canopen mode p.371
- Appendix f p.371
- Question 5 how does the servo move when reaching a limit under dvp10mc11t s control p.372
- Program example p.372
- Appendix f p.372
- Question 6 how does dvp10mc11t match the absolute servo in use p.373
- Appendix f p.373
- Appendix f p.374
- Appendix f p.375
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