Servosila-Device-Reference-0xA020192

Backlash
Threshold
shaft from a braking position. The "Brake: Backlash Threshold" parameter,
expressed in electrical radians, specifies how far the shaft of the motor is allowed
move under the influence of external forces before the controller applies a
maximum countering electromagnetic force to bring the shaft back to its original
braking position.
Note that the backlash value is no less than (2*PI / 6) radians (electrical) for motors
with Hall sensors as this is the finest angular resolution the sensors are capable of.
Tuning intuition:
• REDUCE this value to reduce backlash of the motor when on a "Brake".
• INCREASE the parameter to reduce power consumption in the "Brake"
mode.
0x2024,
0x03,
rw
2
Brake: T
rising
sec The parameter "Brake: T rising" specifies how quickly the motor responds to
sudden increases in external disturbing forces that move the shaft.
Tuning intuition:
• DECREASE the parameter to improve responsiveness of the "Brake"
function to sudden jolts of external forces.
• INCREASE the parameter to reduce power consumption in the "Brake"
mode.
FLOAT32,
0x2024,
0x04,
rw
3
Brake: T
falling
sec The parameter "Brake: T falling" defines how quickly the motor reduces a
countering electromagnetic force once an external disturbing force disappears.
Tuning intuition:
• DECREASE the parameter to reduce power consumption in the "Brake"
mode.
• INCREASE the parameter if shaft oscillations or an excessive noise are
observed in the "Brake" mode.
FLOAT32,
0x2024,
0x05,
rw
4
Feature:
Brake on Idle
0 or 1 The parameter "Feature: Brake on Idle" instructs the controller to automatically
apply the "Brake" function whenever the motor is in the "Idle" mode.
This feature helps prevent the force of gravity from moving the joints of machines
in an event of a sudden loss of connectivity with a parent control system.
BOOL,
0x2024,
0x10,
rw
Configuration - Work Zone
The term "Work Zone" defines a sector which a servo drive's shaft is allowed to move within. The controller makes an
effort to prevent the servo's shaft from leaving the "Work Zone" even if an erroneous command is given by a parent
control system. The "Work Zone" is meant to define boundaries of safe operation of a servo mechanism, so that the
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