Difference between revisions of "CanServo/HLS12/0"
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(Created page with "== HLS12 == * HLS12-CAN Actuator는 CAN 서보 FW Ver 2.3 에서 HLS12의 특성이 반영되어 완성되었습니다. * 직선 운동을 하는 특성을 반영하기 위...") |
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== HLS12 == | == HLS12 == | ||
* HLS12-CAN | * The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3. | ||
* | * For all other details, please refer to the specifications for firmware version 2.3. | ||
== | == Operating range == | ||
* | * For example, with a 100 mm product, the innermost point corresponds to the 0 mm position, and the outermost point corresponds to the 100 mm position. | ||
* | * It operates corresponding to the -60° and +60° positions of POSITION_NEW. | ||
== | * POSITION_NEW (Reg 30) | ||
** min = -60 deg = 8192 - 60 x 16384 / 360 | |||
** max = +60 deg = 8192 + 60 x 16384 / 360 | |||
== Coordinate system == | |||
* POSITION_NEW (Reg 30) = Target Location = -60 deg to +60 deg | |||
* REAL POSITION_NEW (Reg 37) = The value of POSITION_NEW converted into an actual distance value. | |||
* VIRTUAL POSITION_NEW (Reg 35) = A virtual target that moves toward POSITION_NEW based on the speed setting | |||
* POSITION (Reg 12) = Current position = Same coordinate system as POSITION_NEW | |||
* REAL POSITION (Reg 13) = POSITION value converted into distance units | |||
** ex) 1500 = 15.00 mm | |||
* The distance unit changes if the product length exceeds 200 mm. | |||
** ex) 1500 = 150.0 mm | |||
== Power Rate == | |||
* It adjusts the output at a specified ratio without the need to modify the power (wattage) setting. | |||
* Reg 0x29 | |||
** 4095 = 100% | |||
* Condition | |||
** Reg 0x41 활성화 필요, bit 13 = 1 | |||
== Changed Unit == | |||
* Velocity Max | |||
** 1 = 0.01 mm / sec | |||
* option/deadband | |||
** 1 = 0.01 mm | |||
== Acceleration and deceleration == | |||
* Adjust the smoothness of acceleration and deceleration using the Smart Sense setting value. | |||
* Values of 0, 1, and 4095 result in no acceleration or deceleration smoothing. | |||
* The range is from 4095 down to 2; values closer to 2 result in smoother acceleration and deceleration. | |||
** Note: If the value is very low, the time required to reach the target may become significantly longer. | |||
* Recommended range: 500 – 3000 | |||
== Calibration Data == | |||
* The physical operating limits are defined in POSITION MIN/MID/MAX. | |||
* Do not modify these values. | |||
== 기타 == | |||
* CAN Sample Point 50%, 87.5% 선택 가능 | |||
* HW_DEF_1(Reg 0xA5) = HLS12 길이 = mm 단위 = 30, 50, 100 | |||
* HW_DEF_2(Reg 0xA7) = HLS12 기어비 = 1:x = 50, 100, 210, 380 | |||
Revision as of 00:58, 13 July 2026
HLS12
- The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
- For all other details, please refer to the specifications for firmware version 2.3.
Operating range
- For example, with a 100 mm product, the innermost point corresponds to the 0 mm position, and the outermost point corresponds to the 100 mm position.
- It operates corresponding to the -60° and +60° positions of POSITION_NEW.
- POSITION_NEW (Reg 30)
- min = -60 deg = 8192 - 60 x 16384 / 360
- max = +60 deg = 8192 + 60 x 16384 / 360
Coordinate system
- POSITION_NEW (Reg 30) = Target Location = -60 deg to +60 deg
- REAL POSITION_NEW (Reg 37) = The value of POSITION_NEW converted into an actual distance value.
- VIRTUAL POSITION_NEW (Reg 35) = A virtual target that moves toward POSITION_NEW based on the speed setting
- POSITION (Reg 12) = Current position = Same coordinate system as POSITION_NEW
- REAL POSITION (Reg 13) = POSITION value converted into distance units
- ex) 1500 = 15.00 mm
- The distance unit changes if the product length exceeds 200 mm.
- ex) 1500 = 150.0 mm
Power Rate
- It adjusts the output at a specified ratio without the need to modify the power (wattage) setting.
- Reg 0x29
- 4095 = 100%
- Condition
- Reg 0x41 활성화 필요, bit 13 = 1
Changed Unit
- Velocity Max
- 1 = 0.01 mm / sec
- option/deadband
- 1 = 0.01 mm
Acceleration and deceleration
- Adjust the smoothness of acceleration and deceleration using the Smart Sense setting value.
- Values of 0, 1, and 4095 result in no acceleration or deceleration smoothing.
- The range is from 4095 down to 2; values closer to 2 result in smoother acceleration and deceleration.
- Note: If the value is very low, the time required to reach the target may become significantly longer.
- Recommended range: 500 – 3000
Calibration Data
- The physical operating limits are defined in POSITION MIN/MID/MAX.
- Do not modify these values.
기타
- CAN Sample Point 50%, 87.5% 선택 가능
- HW_DEF_1(Reg 0xA5) = HLS12 길이 = mm 단위 = 30, 50, 100
- HW_DEF_2(Reg 0xA7) = HLS12 기어비 = 1:x = 50, 100, 210, 380