Detailed explanation of servo motor position out-of-tolerance alarm
I. Functions and Precautions
(1) Functional Description: This document explains in detail how to use the position deviation alarm function of our servo motor.
(2) Precautions: When using the position mode, be sure to turn off the position deviation alarm.
II. Operation Steps
(1) Open NiMStudio and connect to our servo motor. Note that the example motor uses a CANopen communication servo motor. The same operation method applies to other motors.
Figure 2.1
(2) Select motor No. 1 and enter the diagnostic configuration interface in the motion configuration.
Figure 2.2
(3) Change the response code of the position deviation alarm to warning and quickly lock the axis.
Figure 2.3
(4) Enter the parameter management interface, check the standard device sub-protocol area and automatic refresh, and enter the position deviation in the search box.
Figure 2.4
(5) Set the user-required position deviation threshold, i.e., index H6065, and the position deviation duration (in ms), i.e., index H6066.
Figure 2.5
(6) The threshold value for judging the conditional position deviation is used to check the difference between the target position instruction inside the motor, i.e., index H6062, and the actual position of the motor, i.e., index H6064.
Figure 2.6
(7) When the target position H607A is set to 100000, H6062 will immediately become 100000. Therefore, when H6065 is set to 10, the difference between H6062 and H6064 will immediately be greater than H6065. When its duration exceeds H6066, the position deviation alarm will be triggered. After this alarm is triggered, the motor will alarm and lock the axis according to the configuration of the above-mentioned reaction code.
Figure 2.7
(8) Therefore, the position deviation alarm is generally used in situations where the target position instruction needs to be updated frequently to ensure the responsiveness and followability of the motor, such as interpolation mode and cyclic synchronous position mode.
Figure 2.8
(9) When using the profile position mode PP, the position deviation alarm must be turned off, that is, the reaction code is changed to not record.
Figure 2.9
