8.7.4.3. Configured Servo Drives
Note
Name: View Button
Function: Click to view servo drive configuration information.
Note
Name: Enable Button
Function: Servo drive enabled state. Click the button to disable the servo drive.
Note
Name: Disable Button
Function: Servo drive disabled state. Click the button to enable the servo drive.
Note
Name: Homing Button
Function: Set the homing method for the servo drive.
Note
Name: Test Button
Function: Test the servo drive.
Note
Name: Servo Error Clear Button
Function: When the servo drive indicates an error, click to clear it.
8.7.4.3.1. Servo Control Mode and Enable
In “Configured Servo Drives”, select the control mode as “Position Mode”, select the corresponding servo number, and click the “Disable” button. This will first set the servo drive number. After successful setting, it sets the control mode. After the control mode is set successfully, the servo drive is enabled (Please note: After switching the control mode, you need to first disable the servo drive, then enable the servo drive again for the servo control mode switch to take effect. After the servo is enabled, switching the control mode will be disabled).
Figure 8.7‑37 Servo Control Mode and Enable
After the servo is successfully enabled, check the “Servo” section in the robot’s various status bars to observe the “Servo Enable” status light is on, indicating the servo drive is enabled. Click the “Enable” status button to disable the servo drive, and the “Servo Enable” status light turns off.
Figure 8.7‑38 Servo Drive Status Bar
8.7.4.3.2. Servo Homing
After the servo drive is successfully enabled, the “Homing” button becomes highlighted. Click the button to enter the setup interface. Select the homing mode as “Current Position Homing”, homing speed as 5mm/s, and zero search speed as 1mm/s; click the “Set” button to complete the servo current position homing operation. In the “Servo” section of the robot’s various status bars, you can observe that the current “Servo Position” is 0; (Please perform homing tests with “Negative Limit Homing” or “Positive Limit Homing” only after fully reading this manual).
Figure 8.7‑39 Servo Homing
8.7.4.3.3. Servo Motion
Before actually controlling the servo motor motion, please first understand the “Position Mode” and “Speed Mode” of the servo motor. We remind you again:
Position Mode: You can input a certain motion speed and target position parameter. The servo will move to the target position at the set speed and stop after reaching the target position.
Speed Mode: You can input a certain target speed. The servo will continue to move at the target speed you set until you set the target speed to 0 or disable the servo motor;
When switching control modes, the “Current Control Mode” display will switch automatically (Please note: After switching the control mode, you need to first disable the servo, then enable the servo again for the servo control mode switch to take effect). If your servo is not currently in “Position Mode”, please switch your servo to position mode. Enter the “Target Position” as 50mm and the run speed as 5mm/s. Under confirmed safe conditions, click the “Set” button. At this point, the servo motor will move according to the parameters you set. You can observe the servo’s position, speed, etc., in real-time in the “Servo” section of the robot’s various status bars.
Figure 8.7‑40 Servo Motion Debugging (Position Mode)
Change the servo control mode to “Speed Mode”. Click the “Enable” status button to disable the servo drive, then click the “Disable” status button. Now the servo is switched to speed mode (Please note: After the servo motor starts moving, it can only be stopped by setting the target speed to 0). Enter the target speed as 5mm/s and click the “Set” button. The servo motor will maintain motion at 5mm/s. Similarly, you can observe the servo’s position, speed, etc., in real-time in the “Servo” section of the robot’s various status bars.
Figure 8.7‑41 Servo Motion Debugging (Speed Mode)
8.7.4.4. Advanced Settings
If the robot collides, the emergency stop is pressed, or other emergency situations occur, the extended axis can trigger an emergency stop and stop motion according to the set emergency stop deceleration. After the collision alarm is reset, commands can continue to be sent to resume extended axis operation. It is necessary to set the servo acceleration/deceleration and servo emergency stop acceleration/deceleration in the Advanced Settings, as shown below:
Figure 8.7‑42 Advanced Settings