OE Max Controls CSDP Plus, User Manual

Page: 96 / 254

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Default Torque Bias
Default torque bias prevents a fall due to gravity of the vertical load
during the initial operation.
When the load is vertical and the servo
ON signal is applied to activate the
motor, the load can fall because of
gravity. And when the servo ON, servo
OFF signals are applied, the motor brake
should be applied or released. If the
timing is not properly adjusted, the load
can fall momentarily, causing vibration
in the machine. This characteristics of
the vertical load causes overshoot and
postpones position completion.
Moreover, the servo alarm can go off as
the system tries to activate the motor
while the brake is applied.
Default torque bias is used to prevent the load from falling by gravity
during the process of controlling the vertical load. The default torque
equal to the falling load is applied to the motor in a reverse direction of
the falling motion when the servo ON signal is applied. If default
torque bias is properly set according to the falling force of the load, the
falling of the vertical load can be prevented in the early stage of the
operation.
By adjusting torque command offset (SEt-64 and
SEt-65), revolution of the motor can be prevented.
ATTENTION
In case of controlling a vertical load, please use brake motor
or install braking device to use the motor.