General
2.2.1 Motor OFF Mapping
Pressing the EMERGENCY button on the main screen of the program will stop the servo operation. However, if the operation is stopped during use, the servo may be at the 0-degree position, but it can also stop while under a load, such as at 20 degrees.
Therefore, the following procedure sets an example of stopping the servo operation and returning it to the 0-degree position when the button is clicked.
(a) After importing the DBC file, open the Configuration window. In the MOTOR ONOFF SIGNAL table, the HOST COMMAND list matching the DBC will appear.
(b) In the first row, set the servo's last position to 0 degrees. Select the POS_CMD item from the HOST COMMAND list.
(c) Enter ON Value = NUM, OFF Value = 0.
(d) Set the OFF Timeout. The OFF Timeout is the number of seconds after pressing the Emergency button before the command is executed.
(e) In the second row, stop the servo motor. Select the MOTOR_ONOFF item from the HOST COMMAND list.
(f) Enter ON Value = 1, OFF Value = 5. Refer to the ICD document for the ON/OFF Values.
(g) Set the OFF Timeout.
(h) Click the ENABLE button to activate the function.
Based on the settings shown in the above figure, the actual servo operation when the Emergency button is clicked is as follows.
*Additionally, the Motor Off Mapping setting will cause the servo to execute the commands according to the Motor Off Mapping settings for 10 seconds after the AutoRun operation time ends and then terminate the AutoRun.
2.2.2 Tx and Save Rate
The data save interval is determined by the product of the TX INTERVAL and TX Rate.
TX INTERVAL[ms]: Set the interval (in milliseconds) at which TX will be sent.
TX Rate(x Multiple): Set how many TXs will be sent before saving the data.
For example, if TX INTERVAL is set to 20 ms and MULTIPLE TX is set to 5, TX will be sent every 20 ms and the data will be saved once for every 5 TXs sent.
Enable additional Data Save : Save additional raw data at the point of an error.
For example, if set to 60 seconds, the data will be saved for 30 seconds before and 30 seconds after the error, totaling 60 seconds of data. Detailed explanations can be found at the following path: SAVE Raw data
2.2.3 Response Message
Even if the servo does not respond to the CMD Msg. (and the RESP Msg. is not received), the SME continuously saves the previous value to the Response Table according to the Tx rate. This may cause the misunderstanding that the servo is continuously responding.
In the above table, you can choose whether to retain the previous value or leave it blank when there is no response from the servo for the Response Message.
This is the data processing differences according to the item selection.
