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7.1. General Operation and Function
7.1.6. Integration OFF/Lower Gain (IOFF) Input
7.1.6. Integration OFF/Lower Gain (IOFF) Input
l This function is useful when the brake sequence, that is to say, the case the parameter setting is
BF0, is not in use.
l This function switches ON and OFF of the velocity loop integration frequency and lowering
velocity loop proportional gain.
l Integral control is essential to obtain the minimum (zero) position error (position deviation)
against the objective position. However, if a brake is applied to the Motor when it is stopping,
the Driver Unit gives excessive current to the Motor to reach the objective position. If this state
unchanged, the Motor eventually will heat up. For this reason, the integration control shall be off
when the Motor is mechanically locked.
l Lowering gain is effective in the following case.
l The IOFF input controls the integration OFF and the lowering gain function. In addition,
parameter IM selects the function when the IOFF input is ON.
Table 7-1
IM setting
l The integration control (VI) will be invalidated with turning the IOFF input ON when the
parameter IM is set to IM0. In addition, the velocity loop proportional gain (VG) will be lowered
as well. (VG × LG)
l The integration control (VI) will be invalidated with turning the IOFF input ON when the
parameter IM is set to OM1. At this time the velocity loop proportional gain won't lower.
l The velocity loop proportional gain (VG) will lower with turning the IOFF parameter ON when
the parameter IM is set to IM2. However the integration control (VI) remains validated. (VG ×
LG
l It returns in normal state when the input of IOFF is OFF.
Figure 7-7
IOFF input
Integration control
(In case of IM0 or IM1)
Velocity loop proportional gain
(In case of IM1 or IM2)
à The load condition fluctuates greatly during positioning.
à The Motor vibrates during stopping because of external force or effect of rigidity.
Function of IOFF input
IM0
Integration OFF + Lower gain
IM1
Integration OFF
IM2
Lower gain
ON
OFF
The control is valid.
à The gain won't lower even the IOFF input turns ON during performing the automatic
tuning.
Shipping set
ü
10 ms max.
The control is invalid.
VG × LG [%]
VG
— 7-6 —
B
B
3
3
t
t
y
y
p
p
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e
B
B
5
5
t
t
y
y
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e
2
3
t
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2
5
t
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e
2
3
t
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2
5
t
y
p
e
10 ms max.
The control is valid.
VG
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Troubleshooting
