NSK MEGATORQUE M-ESA-Y3040T25 - Clearing Position Error Counter; Integration off (IOFF)

— 9-3 —
9.1.3. Clearing Position Error Counter
l CLR (clear) input clears the internal position error counter of position loop.
l When the excess position error alarm arises, turning on the CLR input clears the position error
counter and recovers from the alarm state.
* The Driver Unit detects the rising edge of the CLR input signal and clears the position error counter
to zero. Then, the counter continues its operation regardless of the state of the CLR input (even it
remains on).
Figure 9-4
3ms max.
Position error
counter over
limit value (CO)
Alarm
Normal
ON
OFF
CLR input
Position error
counter
Excess position
error alarm
0
3ms max.
10ms min.
l Alarms for software thermal, velocity abnormal, program error, RS-232C abnormal and automatic
tuning error may be cleared by CLR input. (Other alarms cannot be cleared by CLR input.)
9.1.4. Integration off (IOFF)
l Parameter VI (Velocity Integrator Frequency) will be invalidated when IOFF input is activated.
Simultaneously, VG (Velocity Gain ) will be lowered according to LG (Gain lowering coefficient)
setting. (VG × LG)
l VI is validated when IOFF input is turned off.
Figure 9-5
ON
OFF
IOFF input
VI Setting
Velocity Gain (VG)
VI Valid
VI Invalid
VI Valid
10 ms max. 10 ms max.
VG
VG
×
LG [%]
VG
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