NSK EDD Megatorque Motor, Руководство пользователя

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8. More Advanced Function
— 8-14 —
8.2.3. Integration OFF: IOFF

The input controls the effect of integral control (Motor settling motion) and lowers the proportional gain in
the velocity loop.

When the Motor is held by such reasons as external interference from a brake, the driver unit issues a large
amount of current in attempt to catch up with the target position. When this condition continues, the Motor
will emit abnormal heat. This input is used when the integral control becomes unnecessary due to
interruption by external devices.
Table 8-10:Signal logic of the input IOFF
Logic Description
OFF Do nothing.
ON
Lowers the effects of integral control and the
velocity loop proportional gain

When the input IOFF activates, the effect of integral control is controlled to the set ratio by the parameter
LB (Observer limiter). Also the parameter LG (Lower gain) lowers the velocity loop proportional gain to
the specified ratio.

For example, the integral control effect becomes 0% if the parameter LB is set to LB0.0, as soon
as the input IOFF activates.

The lowering gain function does not work for the command AT (Auto tuning).
Table 8-11: Parameter related to the input IOFF
Parameter Name/Function
Initial
setting
Data range Unit
LG
Lower gain

Lowering ratio of velocity loop
proportional gain 50.00 0.00 to 100.00 %
LB Observer limiter 0.00 0.00 to 100.00 %
Fig 8-5: Signal timing of the input IOFF
ON
OFF
Input IOFF
VG × LG [%] VG
Max. 1 ms.
Limited to LB 100 [%] 100 [%] 100 [%]
VG
Max. 1 ms
Output observer limiter
Velocity loop
proportional gain