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1.2. Terminology
1.2. Terminology
Driver Unit Means Megatorque Motor System's driver unit when capitalized.
Home Return A built-in sequence program for setting the home position.
OFF (all capital) Logic input state; input will see an open circuit.
ON (all capital) Logic input state; there will be a current path to the common DC supply.
P control Proportional-only control; the servo algorithm.
PI control Proportional and integral control; the servo algorithm.
position gain Shorter name for position loop proportional gain
position integrator frequency Shorter name for position loop integrator cutoff frequency
position loop control mode A control mode within the position control loop; P control or PI control available.
Programmable Indexer Driver Unit's built-in indexing ability.
pulse train A series of pulses used as a position command.
quadrature output Two pulse train outputs with 90° phase difference.
rated stall torque The rated torque available at zero speed.
rated torque The torque not to exceed the maximum Motor winding temperature.
servo-lock One typical state of servo-on; the Motor provides torque and remains in position.
servo-off The state where the Driver Unit provides no current to the Motor, and the Motor provides
servo-on The state that the Driver Unit is ready to control the Motor, or is controlling the Motor.
shipping set A parameter setting or a Driver Unit function setting at shipping.
stall torque The torque available at zero speed.
velocity gain (VG) Shorter name for velocity loop proportional gain.
velocity integrator frequency
velocity loop control mode A control mode within the velocity control loop; P control or PI control available.
b.p.s. bit per second; the unit of communication speed.
Motor rotating direction, counterclockwise; seen from the outside of rotor.
CCW
closed Logic output state; output current will flow.
CW
Motor rotating direction, clockwise; seen from the outside of rotor.
kpps kilo pulse per second; the unit of pulse frequency.
Motor Means Megatorque Motor System's motor when capitalized.
open Logic output state; no output current
-1
s
Revolution per second; the unit of velocity.
-2
-1
s
s
per second; the unit of acceleration.
no torque. The Motor rotor can be rotated easily.
System Means Megatorque Motor System when capitalized.
The velocity error (the error between velocity command and velocity feedback, will be
amplified by a number defined as a velocity gain set by VG, and will be output as a
torque command.
Shorter name for velocity loop integrator cutoff frequency.
Integral control is to output a torque command that is the product of a time quadrature of
(VI)
velocity error and a velocity integrator frequency set by VI. If a higher integrator
frequency is input, the commanded output will be larger given the same error and time
elapsed. It is impossible to attain less than ±1 pulse positioning error without the integral
control.
— 1-6 —
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Troubleshooting
