E1 Series Servo Drive User Manual Tuning
10-4 HIWIN MIKROSYSTEM CORP.
10.2.1 Overtravel setting
Overtravel setting is set to forcibly stop the motor by using the signals from limit switches when the
moving parts of mechanism exceed the allowable travel distance. For more information, please refer to
section 6.7.
10.2.2 Torque limit setting
After the required torque for operation is known, torque limit can be used to limit output torque to prevent it
from exceeding the required torque. Torque limit can also moderate the impact caused by mechanical
interference or collision. If torque limit is smaller than the required torque for operation, the required
operating condition could not be satisfied. For more information, please refer to section 8.10.
10.2.3 Setting alarm value for overflow position deviation
Position deviation overflow alarm is a protective function for position control. When the motor operation is
different from the command, if alarm value for overflow position deviation is set, it can be detected
immediately and the motor will be stopped. Position deviation is the difference between position
command and actual position.
Alarm value for overflow position deviation (Pt520 or Pt521) [Setting unit: 1 control unit]
(1) Rotary motor (In the example, the resolution is 23 bit)
Pt520 >
Motor velocity [rpm]
60
×
8388608
102
[
0.1
⁄ ]
/10
×
210
20
× (: 1.2~2)
(2) Rotary motor (Analog encoder, 3600 line/rev, multiplier factor: 250, encoder resolution:
3600000 counts/rev)
Pt520 >
Motor velocity [rpm]
60
×
3600000
102
[
0.1
⁄ ]
/10
×
210
20
× (: 1.2~2)
(3) Linear motor (In the example, the resolution is 0.5 um.)
Pt521 >
Motor velocity [
⁄
]
102
[
0.1
⁄ ]
/10
×
1
0.5/1000
×
210
20
× (: 1.2~2)
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