M-Series Operator’s Manual 4/9/15
Parameter 323 – MPU11 Encoder Speed Filter
This is an axis bitfield where setting a bit to ‘on’ selects the low speed filters for the corresponding axis. As a general
guideline, an axis’s bit should be set unless that axis refers to a 3rd party drive. Bit 0 (value 1) refers to axis #1, bit 1
(value 2) refers to axis #2, bit 2 (value 4) refers to axis #3, bit 3 (value 8) refers to axis #4, and so forth.
Parameter 324-331 – Axis Boxcar Size
These parameters set the maximum sample size of the boxcar filter for each axis. For most applications these values
should be set to 0 (default). For applications where the motor drives are too responsive or jumpy, these boxcar filters
act as a way to smooth the PID output. They average the PID output by the entered boxcar size thus reducing PID
spikes. Eg. A value of 4 would add the last 4 PID values and then divide by 4 for before output. A value of 5 would
add the last 5 PID values then divide by 5 before output. Note that during PID averaging, the Error Sum is not zeroed
during direction reversal. Conversely, a value of 0 disables the boxcar filter for that axis and also zeroes the Error Sum
on Direction Reversal. Note also that as a byproduct of averaging by 1, a boxcar value of 1 may be used to produce a
true PID output while not zeroing the Error Sum on direction reversal.
Parameters 332-335 – Encoder error suppression
These parameters control suppression of various types of encoder errors on a per encoder basis. These parameters are
bitfields by encoder index, NOT axis index. The mpu11 has 15 encoder indexes. For example to disable encoder faults
for Encoder #5 on the mpu11, enter a 16 into the parameters 332 and 334. To suppress encoder faults and error
messages for all 8 axes, enter 255 into each of the paramters mentioned in the following table.
Parameter
Function
332 Suppress encoder differential faults
333 Suppress encoder differential error messages
334 Suppress encoder quadrature faults
335 Suppress encoder quadrature error messages
Parameters 336-339 – Motor torque estimation for velocity mode drives
These parameters are intended to be used with velocity mode drives in order to faciliatate a more accurate display of
the axis load meter bars shown under each position in the main DRO display. If P336 = 0, then this feature is disabled
and the normal PID output is displayed by the axis load meter bars. This feature is enabled if P336 is non-zero.
Parameter
Symbol Function
336 G Overall gain setting (0 = disable Motor torque estimation)
337 Ga Absolute error gain
338 Gs Error sum gain
339 Gd Delta error gain
Technical details:
The axis meter bar value (V) is then caluculated as: V = abs(100.0 * G * ((Ea*Ga + Es*Gs + Ed*Gd)) /
integration_limit), where Ea is the absolute error, Es is the error sum, and Ed is the delata error from the PID algorithm
and the integration_limit is from the “Limit” value set in the PID Config screen . This value V is then bound to the
range 0-100.
Parameters 340-347 – Precision Mode delay (in milliseconds) for axes 1-8
These parameters are used for synchronizing individual precision mode drives with different delays. The MPU11 will
use these values and compensate for the differences in the delays. These parameters have up to a 0.25 millisecond
resolution.
Parameter 348, 351, and 354 – MPG/Handwheel Encoder Input 1, 2, and 3
The encoder input for the MPG or handwheel. (1-15) See the encoder chart above. Note: PLC program interaction is
needed to enable an MPG or handwheel.
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