The control error is a user defined software protection. ERRMAX parameter represents the maximum accepted control error of the most outer loop of the controlled system (i.e. speed or position). If the difference (POSERR/SPDERR) between the reference (TPOS/TSPD) and the feedback (APOS/ASPD) exceeds this value for a time that is greater than the value specified [...]

The "Integral Limit (%)" is the limit for the integral part of a PI or PID controller which is used to eliminate the stationery error (and will manage to do that provided the output of the controller is not saturated). At the beginning of a motion, where the error is rather large (the reference has started [...]

Over Current Protection – Drive Setup [GB/CM] The over-current protection it is triggered if the motor current remains above the over-current limit for a time interval longer than the over-current time. The maximum value for the over-current limit is set to motor peak current (unless the drive peak current is smaller). The over-current time must be set according with [...]

I2t Protection – Drive Setup [GB/CM] The I2t protection (motor I2t protection) prevents motor damage due to long over-current operation. In order to set this protection, you need to select a point on the I2t motor thermal protection curve, and then input the I2t over-current value and the I2t time in the Drive Setup dialog. These points, together with the nominal [...]

The I2t protection works as a long time protection and the over-current as an immediate protection. Let's take the over-current protection first. We assume that the over-current value is 4 A for 500 ms. With this setting, a current of 4 A or higher that is maintained through the motor for more than 500 ms will trigger the protection. Now, if we think [...]

Control Error Protection – Drive Setup [GB/CM] The control error protection depends on the control mode: -  In position control, it is triggered if the absolute value of the position error remains higher than the position error limit for a time interval longer than the position error time.-  In speed control, it is triggered if the absolute value of the [...]

Drive related protections (can be visualized in Drive Info dialog): 1. Over voltage - in case the motor supply voltage exceeds this value the power stage of the drive is disabled 2. Under voltage - the same as over voltage only that it works the other way around. 3. I2t for drive - this is designed to be [...]

As the motor brakes, the kinetic energy stored into the load (the bigger the system inertia, the higher the energy) will flow back to the power supply through the drive (as our drive is a 4-quadrant one, which allows this to happen). Usually the power supply cannot accept this energy, acting as a wall causing the [...]