JVL MIS17 Series User Manual page 102

5.3
Example:
The example shows a situation where the motor is running at a steady velocity and the
follow error is stable. Suddenly the motor is temporarily overloaded, motor current is
increased. When the current has reached 100% it settles since the electronics can not
produce more than 100% and also have to respect the user current setting. The follow
error still increases because the load on the shaft exceeds the available torque.
In the last part of the cycle the load is lowered and when the position error becomes be-
low 2048 counts (1 full step) the current is also proportionally decreased by the control
algorithm and it settles at the same level as before the increased load/position error.
As illustrated on the figure, the slope of the current increase and decrease are asymmet-
rical. This is to stabilize the current control.
102 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Closed loop operation
Only MISxxx---H2/H4---