5-28 WORKING WITH THE CONTROL UNIT
SB1391 Hardware and Setup Guide - Document revision no. 1.14
TABLE 5-7 Detailed guidelines for calculating protective parameters
Parameter Description
Current level
(CL)
CL sets the limit for the actual RMS current of the motor. When the RMS
current exceeds that limit, the amplifier is disabled, generating error
message 27. Set CL as a percentage of the motor continuous current and the
amplifier nominal current. CL is specified as a percentage of the nominal
current of the amplifier. For example, if the nominal continuous current of
the amplifier is 25A, and the maximum continuous current of the motor is
15A, set CL to 60 (SXCL60<cr>). If the maximum current of the motor is
10.0A, set CL to 40 (SAXCL40<cr>). In summary:
100[%]
min
×=
−
−
amplifieralno
motorcontinuous
I
I
CL
Torque limit
low (TL)
The TL parameter limits the maximum value of the current command
(Torque) when the motor is not moving. (When the motor moves, TO is
used.) A value of 1638 allows for twice the nominal current of the amplifier
(I
peak
= 2 x I
nominal
). A value of 819 allows for 50% of the peak. During the
setup procedure it is recommended to set TL to 820 or higher. During
normal operation it is recommended to set TL to a value that is 20%-30%
above the maximum anticipated torque disturbance when not moving. Thus,
providing a protection to the system if the axis is stacked. TD milliseconds
after switching from moving to non-moving state, TL becomes effective.
As soon as motion starts, TO becomes effective.
Torque limit
(TO)
The TO parameter limits the maximum value of the current command while
moving. A value of 1638 allows for the nominal peak current of the
amplifier. A value of 819 allows for 50% of the nominal peak.
Error limit
(ER)
ER specifies the maximum position error allowed during periods of
constant velocity (otherwise EA is used). When the error value exceeds ER,
the motor is automatically disabled and an error massage 25 is generated.
During the initial set-up it is recommended to use a large ER value (32000),
to prevent false error situations. Afterwards, when moving a large distance
back and forth, using the maximum required velocity and acceleration, it is
recommended to reduce the ERror limit gradually until the motor traps on
error. Then, to increase the value by 100%. Such a value provides a good
protective measure against any malfunction.
Error limit
during
accel./decel.
(EA)
EA specifies the maximum position error allowed during acceleration and
deceleration. When the error value during acceleration exceeds EA, the
motor is automatically disabled and an error massage 25 is generated.
During the initial set-up it is recommended to use a large EA value
(32,000), to prevent false error situations. Afterwards, when moving a large
distance back and forth, using the maximum needed velocity and
acceleration, it is recommended to reduce EA gradually until the motor
traps on error. Then, to increase the value by 100%. Such a value provides a
good protective measure against any malfunction.
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