User's Manual

HARSFEN0602
The position command and feedback limits are illustrated in the figure below. The amplifier
normally operates in the area marked "Within command and feedback limits". It may,
however, visit instantaneously the areas marked "Overshoot area" due to an overshoot, and
this is Ok. If the position feedback reaches the "Abort area", that amplifier will issue an out-
of-position-range exception and automatically shutdown.
0
Within position command and
feedback limits
VL[3]
VH[3]
LL[3]
HL[3]
Position within feedback limits, out of
command limits
Abort
Area
Abort
Area
Over-
shoot
Area
Over-
shoot
Area
Figure 37: Position command and feedback limits
! Remember that when the amplifier shuts down by exception, the motor will continue to
run by its own inertia unless brakes are used (refer the section Connecting an external
brake).
In order to avoid spurious motor shut downs, always:
- Specify the largest ER[3] you can tolerate
- Leave enough space between VH[3] and HL[3], to allow positioning overshoots
- Leave enough space between VL[3] and LL[3], to allow positioning overshoots.
! If you want the motor to run infinitely in the current or in the speed (UM=1 or UM=2)
modes, either set XM to nonzero value, or set LL[3]<-2
30
and HL[3]>2
30
.
14.4 Enable switch
You may program one of the digital inputs as an "Inhibit" or "Inhibit with Automatic
Restart".
Digital input programming is detailed in the Command Reference Manual, the IL command.
When an Inhibit input is active:
If the motor is off, MO=1 will not start the motor
If the motor is on, MO=0 is set immediately. If the motor is rotating with high
speed, the inhibit function may be unsafe, as the motor continues to run uncontrolled
by its own inertia.
When an Inhibit input is inactive:
If the motor is off, MO=1 will start the motor
When an Inhibit input with automatic restart is active, it acts similar to Inhibit.
When an Inhibit input with automatic restart is inactive:
If the motor is off, and RM=1, the Harmonica shall try to set MO=1. No restart