General Parameter Setting

Electronic gear ratio sets the E-Gear ratio of the servo drive. Insert valid values for the numerator and denominator to set the conversion ratio of PUU to shaft rotations.

Option	Function
Electronic Gear Ratio (Numerator)(N1)	P1.044 sets the numerator for the e-gear ratio.
Electronic Gear Ratio (Denominator)(M)	P1.045 sets the denominator for the e-gear ratio.

The software limit settings allow you to set traveling distance limits via software to deal with safety concerns not met by the hardware limits. The motor will stop when reaching the limit set by the software. If the values are set to the minimum and maximum (as shown below) then this function will be disabled. To use the function, insert values within the minimum and maximum range and check the Enable checkbox.

Option	Function
Forward Software Limit	P5.008 sets the forward movement limit. If feedback position exceeds the value of P5.008, AL283 will occur.
Reverse Software Limit	P5.009 sets the reverse movement limit. If feedback position exceeds the value of P5.009, AL285 will occur.

Parameter P5.003 can be used to slowly stop the motor by activating the limit switch or triggering DI.STOP in auto-protection. Use this menu to setup PL (CCWL) Positive Limit, NL (CWL) Negative Limit, SPL (SCCWL) Software Positive Limit, SNL (SCWL) Software Negative Limit, OVF Position Command Overflows, CTO (Communication timeout AL020), and STP Stop Command.

Deceleration options available in the drop downs are configured by P5.020 through P5.035 (Acceleration/Deceleration time parameters).

Use the event ON/OFF settings to configure PR mode triggers for the ON/OFF states of up to four events. PRs #51 through #63 are available, and can be configured through the PR Mode Setting menu. To view your ON/OFF events, use the Chart tab.

How to Use Events

An Event in SureServo2 is a way to automatically call a Path (example: make the motor move a certain distance) when a digital input turns ON or OFF. This is only for use in PR Mode. There are three things required to program this behavior:

1.) Define a Digital Input as an Event

2.) Define which Path to execute when the Event is triggered

3.) Program the Path

Refer to Chapter 7 of the SureServo2 User Manual for information on using Events for Registration (High Speed Capture and Compare).

Step 1

Define the Digital Input as an Event.

The Digital Inputs are configured in P2.010 through P2.017, and P2.036 through P2.040. Enter one of these values in a DI register to configure it as an Event input:

Event	As a Normally Open Contact	As a Normally Closed Contact
Event Trigger 1	0x0139	0x0039
Event Trigger 2	0x013A	0x003A
Event Trigger 3	0x013B	0x003B
Event Trigger 4	0x013C	0x003C

Step 2

Define which PATH to execute when the Event is triggered.

P5.098 and P5.099 define which Paths get called when an Event is triggered. P5.098 sets the Paths that gets called when an Event turns ON (rising edge). P5.099 sets the Path that gets called when an Event turns OFF (falling edge). The only Path that are available for the Event function are PR#51 – PR#63. Set these Paths using the drop down boxes in the PR# triggered by event rising/falling-edge setting window. You can also set these parameters through the Parameter Editor.

Step 3

Program the Path.

Once the Event is configured, all that remains is to define the commands in the chosen Path (PR#51 – PR#63).

 

Example:

Configure the servo to move 10,000 PUU every time a Digital Input turns ON. This example will use DI9, Event trigger #3, and PR#60.

1.) Ensure the drive is in PR Mode (P1.001 = 0x0001)

2.) Define Digital Input 9 as Event trigger #3 (P2.036 = 0x013B)

3.) Configure Event #3 to call PATH PR#60

4.) Program PATH PR#60 as a Point-to-Point Command, Relative Positioning, Position = 10,000 PUU.

Now, each time DI9 turns ON (when the servo is enabled), the motor will move 10,000 PUU.

Note: If the Position Command Type is set to ABS, the motor will move to Position 10,000 when DI is first triggered. All subsequent DI triggers will not cause motion because the motor will already be at its commanded position.