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Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual
Following Error
The Following Error is the difference between the Position Command and the Position Feedback. It is positive when the
Position Command is greater than the Position Feedback.
Encoder Feedback
The motor position in encoder counts since power up when the value was set to zero. This is a signed 32 bit value. This is set
to zero when the Absolute Position Valid output function is activated.
Position Feedback
This is set to zero when the Absolute Position Valid output function is activated.
Velocity Group
Analog Command
Velocity Command
The Velocity Command is the actual command received by the velocity loop.
Velocity Feedback
This parameter is the actual feedback motor velocity in RPMs.
Torque Group
Analog Torque
Torque Command
This parameter returns the torque command value before it is limited. The torque command may be limited by either the
Torque Limit (if the Torque Limit Enable input function is active) or current foldback.
Torque Cmd Limited
Torque Feedback
Actual Command
This is the sum of all torque commands applied in summation mode.
Drive Status Group
Drive Status
This reflects the state of the diagnostic LED on the drive. (i.e., Ready, Indexing, Homing, Jogging, etc.).
Foldback RMS
This parameter accurately models the thermal heating and cooling of the drive and motor. When it reaches 100 percent,
current foldback will be activated.
Shunt Power RMS (Epsilon only)
This parameter models the thermal heating and cooling of the drive internal shunt. This parameter indicates the percent of
shunt capacity utilization. When this value reaches 100 percent the drive will generate an RMS Shunt Power Fault.
Segment Display
Character currently being displayed by the diagnostic display on the front of the drive.
Bus Voltage
Displays the actual measured voltage on the DC power bus.