X20 system modules • Motor controllers • X20SM1436
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X20 system User's Manual 3.10
Mixed decay threshold
Name:
ConfigOutput16
The the mixed decay threshold can be set in this register. This value is used together with the stall threshold to
achieve a balance between smooth operation and stall detection quality.
Data type
Value
Information
0
Mixed decay disabled
1 to 14
Mixed decay levels
UINT
15
Mixed decay always enabled
By default, mixed decay is always enabled (mixed decay threshold = 15).
A self-stabilizing control loop in the current controller results in an optimal, sinusoidal current flow. This ensures a
high level of positioning precision and low motor resonance, especially at low speeds.
Mixed decay interferes with reliable stall detection. If stall detection is used (e.g. during homing), mixed decay
should be disabled (mixed decay threshold = 0).
Relationship between stall detection and mixed decay
Depending on the application and the motor used, satisfactorily smooth operation can be achieved while using
stall detection by setting the mixed decay threshold to a value between 1 and 14. This is a compromise between
smooth operation and stall detection quality and must be fine tuned during commissioning.
0
2
4
6
8
10
12
14
Q
ua
lit
y
Mixed decay threshold
Mixed decay
Stall detection
Motor ID trigger
Name:
MotorIdentTrigger
This register can be used to trigger non-cyclic motor identification (see "Motor identification"). The application must
ensure that the conditions for reading the motor ID are fulfilled (see "Notes" table under the Motor identification
register).
Data type
Value
USINT
See bit structure.
Bit structure:
Bit
Description
Value
Information
0
No effect
0
1
Positive edge triggers motor identifier measurement
1 - 7
Reserved
0
