How to set up the anti-pinch function
I. Functions and Precautions
(1) Function Description: The anti-pinch function indirectly determines whether abnormal resistance is encountered by monitoring the motor's operating status, ensuring safe motor operation. This document explains how to use the anti-pinch function on the motor.
(2) Precautions: Subject to actual conditions.
II. Function Setting Introduction
This function stops the motor and reports a stall fault by judging the speed deviation over a certain period of time.
When the speed deviation H2006-0F (unit: 1rpm) is 0, this function is off; when H2006-0F≠0, this function is on. The anti-pinch function is off by default on the motor.
III. Example For example
Motor address is 1. In contour speed mode, a target speed value of 1200rpm is given. When the actual speed is lower than 1100rpm,
and the duration exceeds 1s, the motor reports a speed stall fault and stops rotating.
| Command Name | CANopen message |
Modbus message (CRC checksum omitted) |
| Set Speed Deviation 100 rpm | 0601 2B 06 20 0F 64 00 00 00 | 01 10 01 56 00 01 02 00 64 |
| Set Duration 1 s | 0601 2B 06 20 12 E8 03 00 00 | 01 10 01 59 00 01 02 03 E8 |
| Save Parameters | 0601 23 10 10 01 73 61 76 65 | 01 10 00 26 00 02 04 65 76 61 73 |
