— 1-6 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
1.2. Terminology
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
1.2. Terminology
b.p.s.
bit per second; the unit of communication speed.
CCW
Motor rotating direction, counterclockwise; seen from the outside of rotor.
closed
Logic output state; output current will flow.
CW
Motor rotating direction, clockwise; seen from the outside of rotor.
Driver Unit
Means Megatorque Motor System’s driver unit when capitalized.
Home Return
A built-in sequence program for setting the home position.
kpps
kilo pulse per second; the unit of pulse frequency.
Motor
Means Megatorque Motor System’s motor when capitalized.
OFF (all capital)
Logic input state; input will see an open circuit.
ON (all capital)
Logic input state; there will be a current path to the common DC supply.
open
Logic output state; no output current
P control
Proportional-only control; the servo algorithm.
PI control
Proportional and integral control; the servo algorithm.
position gain
Shorter name for position loop proportional gain
position integrator frequency
Shorter name for position loop integrator cutoff frequency
position loop control mode
A control mode within the position control loop; P control or PI control available.
Programmable Indexer
Driver Unit’s built-in indexing ability.
pulse train
A series of pulses used as a position command.
quadrature output
Two pulse train outputs with 90° phase difference.
rated stall torque
The rated torque available at zero speed.
rated torque
The torque not to exceed the maximum Motor winding temperature.
s
-1
Revolution per second; the unit of velocity.
s
-2
s
-1
per second; the unit of acceleration.
servo-lock
One typical state of servo-on; the Motor provides torque and remains in position.
servo-off
The state where the Driver Unit provides no current to the Motor, and the Motor provides
no torque. The Motor rotor can be rotated easily.
servo-on
The state that the Driver Unit is ready to control the Motor, or is controlling the Motor.
shipping set
A parameter setting or a Driver Unit function setting at shipping.
stall torque
The torque available at zero speed.
System
Means Megatorque Motor System when capitalized.
velocity gain (VG)
Shorter name for velocity loop proportional gain.
The velocity error (the error between velocity command and velocity feedback, will be
amplified by a number defined as a velocity gain set by VG, and will be output as a
torque command.
velocity integrator frequency
(VI)
Shorter name for velocity loop integrator cutoff frequency.
Integral control is to output a torque command that is the product of a time quadrature of
velocity error and a velocity integrator frequency set by VI. If a higher integrator
frequency is input, the commanded output will be larger given the same error and time
elapsed. It is impossible to attain less than ±1 pulse positioning error without the integral
control.
velocity loop control mode
A control mode within the velocity control loop; P control or PI control available.
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