XYZ Robot A1-16 Manual Del Usuario página 15

02
Setting Up the Servo Tool
Item
Torque Policy
(RAM Register
Address 3)
Max Temperature
Min Voltage
Max Voltage
Max Load
Position Control
Parameter Kp
Position Control
Parameter Ki
Position Control
Parameter Kd
Over Temperature
Detection Period
Over Voltage Detection
Period
Over Load Detection
Period
Calibration Angle
Status Error
Description
Sets Torque Policy when Error is detected.
• 0: Torque is released (Torque off). If an error is detected, servo will not
return to Torque On state regardless of the Torque Control.
• 1: Servo does not automatically revert to Torque On state even after
status error has been resolved. Enable Torque On using Torque
Control after status error has been resolved.
The A1-16 servo's maximum operating temperature. The value is in
degrees Celsius.
The A1-16 servo's minimum operating voltage. The value is 16 times the
actual voltage in volts.
The A1-16 servo's maximum operating voltage. The value is 16 times the
actual voltage in volts.
The A1-16 servo's maximum operating current. The value is 200 times the
actual current in amperes.
Servo position control parameter, proportional gain constant Kp. Output
torque applied to motor is adjusted by multiplying Kp and current position
error.
For more features, see https://en.wikipedia.org/wiki/PID_controller.
Servo position control parameter, integral gain constant Ki. Output torque
applied to motor is adjusted by multiplying Ki and summation of error over
operating time.
For more features, see https://en.wikipedia.org/wiki/PID_controller.
Servo position control parameter, derivative gain constant Ki. Output torque
applied to motor is adjusted by multiplying Kd and slope of error over
operating time.
For more features, see https://en.wikipedia.org/wiki/PID_controller.
Over temperature error check period. The value is 10ms/Tick. For example,
120 ms is represented as value 12.
Over/under voltage error's checking period. The value is 10ms/Tick. For
example, 120 ms is represented as value 12.
Over current error's checking period. The value is 10ms/Tick. For example,
120 ms is represented as value 12.
This value is used to calibrate the central point. The calibrated position
is equal to absolute position plus calibration angle and used in position
control. The value is 0.969°/count. For example, 0.969° is represented as
value 3.
This value presents the system operating error. The LED status indicates
the corresponding alarm LED policy is set. See "Status Error" on page
15 .