16
Epsilon Eb and EN Drives Reference Manual
In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque
Command by the Full Scale Torque, Analog Input Full Scale, and Analog Input Zero Offset
parameters. The equation is:
Where:
TC = Torque Command
AI = Analog Input (volts)
AZO = Analog Input Zero Offset (volts)
FST = Full Scale Torque (%)
AFS = Analog Full Scale (volts)
Drive Modifiers
This section describes functions that can modify the operation of the drive.
Stop
The Stop input function, when activated, will cause motion to stop regardless of motor
direction or the operating mode. The Stop Deceleration Ramp defines the rate of velocity
change to zero speed.
Activating the Stop input function causes the drive to change to Velocity mode. Therefore, if
you are operating in Torque mode, the drive must be tuned to the load to prevent instability
when activating the Stop input function.
For example, if an application is operating in Torque mode at 1000 RPM, and the Stop input
function is activated with a Stop Deceleration Ramp of 500 ms/kRPM, the motor will
decelerate to a stop in 500 ms.
When the Stop input function is deactivated, the previous operating mode is restored
within 400 µs and the drive and motor will respond immediately with no ramping unless
ramping is part of the selected mode.
+/- Travel Limits
The + and - Travel Limit input functions will stop motion in the direction indicated by the
input function using the Travel Limit Deceleration rate. This feature is active in all modes.
When an axis is stopped by a Travel Limit function, it will maintain position until it receives
a command that moves it in the opposite direction of the active Travel Limit.
AFS
FST) AZO) ((AI
TC
-
=
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