173
Parameter Descriptions
Position Error Integral Time Constant
PosnErrorIntegralTimeConstant
Position Error Integral parameter is a control term, which can be used in Pulse mode to
compensate for the continuous torque required to hold a vertical load against gravity or to
minimize following error.
The user configures this control term using the “Position Error Integral Time Constant”
parameter. This parameter determines how quickly the drive will correct for in-position
following error. The time constant is in milliseconds and defines how long it will take to
decrease the following error to 37 percent of the original value. In certain circumstances the
value actually used by the drive will be greater than the value specified here.
Min Time Constant = 1000/Response
For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20
msec.
Position Feedback
PosnFeedback
Feedback position is the actual motor position in user units. PosnCommand minus the
PosnFeedback is the FollowingError
Position Feedback In Counts
PosnFeedbackInCounts
Motor encoder position in encoder counts since power up. This position reflects the feedback
position of the motor and is not scaled into user units. It can be used to confirm the exact
position of the motor in applications where precise positioning is required.
Power Stage Enabled
PowerStageEnabled
This source (output function) is active when the drive's power stage is enabled.
PowerUpCount
PowerUpCount
Number of times the drive has been powered up since it was manufactured.
PowerUpTime
PowerUpTime
Time elapsed since last drive power-up. Units is minutes.
