Whittaker C159980 User manual

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NOTICE: PROPRIETARY INFORMATION OF WHITTAKERCONTROLS, INC., ABUSINESS UNIT OFMEGGITT PLC.
THE INFORMATION CONTAINED IN THIS DOCUMENT IS DISCLOSED IN CONFIDENCE. IT IS THE PROPERTY OF
WHITTAKER CONTROLS, AND SHALL NOT BE USED, DISCLOSED TO OTHERS, OR REPRODUCED IN WHOLE
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THIS NOTICE SHALL APPEAR IN ANY SUCH REPRODUCTION.
REVISION 1.0 – 07/01/2005
Maintenance Manual
SERVO MOTOR CONTROLLER
60-300 VDC, RS 232, ANALOG 4-20 MA, CAN OPEN
PART NUMBERS:
C159980
C159980-1
C159980-2

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 2
LIST OF EFFECTIVE PAGES
On a revised page, the portion of text or illustrations affected by the change is indicated by a vertical line
in the outer margin of the page. When a revision is issued, the entire document is reissued with the current
revision number and date shown on all pages. For major revisions, the basic number is incremented. For
minor revisions, the number following the decimal is incremented. Dates of issue for original and subse-
quent revisions are as follows:
Original1.0 ...........................................07/01/2005
The total number of pages in this technical document is 39 consisting of the following: Title, 2 – 12, Appen-
dix A (23 pages), and Appendix B (4 pages).
TABLE OF CONTENTS
SUBJECT PAGE
Introduction ....................................................................... 5
Description and Operation ........................................................... 6
Installation ...................................................................... 11
LIST OF ILLUSTRATIONS
FIGURE PAGE
1. ServoMotorController ...................................................... 7
2. Envelope Dimensions ....................................................... 8
LIST OF TABLES
TABLE PAGE
1. Specifications/Characteristics ............................................... 10

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 3
LIST OF APPENDICES
APPENDIX NUMBER OF PAGES
A DS2000 Servodrive User’s Manual, Section 6 – Commands ................ 23
B Installation Drawing, CA24635 ........................................ 4
IMPORTANT SAFETY INSTRUCTIONS
SAVE THESE INSTRUCTIONS!
This manual contains important instructions that should be followed during installation and maintenance
of the Servo Motor Controller (controller). The following are general safety precautions that are not related
to specific procedures and therefore do not appear elsewhere in this publication. These are recommended
precautions that personnel must understand and apply during many phases of maintenance.
The controller is electrically energized. Wherever electricity is present, there is the hazard of electrocution.
Like any other electrical device, the controller can be dangerous if it is improperly operated or maintained.
Safety Alert Symbols
Safety alert symbols are used in this manual to identify potential or immediate personal injury hazards. The
safety alert symbol words are explained below:
DANGERindicatesanimminentlyhazardoussituationwhich,ifnot
avoided, will result in injury or serious injury.
WARNINGindicatesapotentiallyhazardous situationwhich,ifnot
avoided, could result in injury or serious injury.
CAUTION indicates a potentially hazardous situation which, if not
avoided, may result in minor or moderate injury.
CAUTION used without the safety alert symbol indicates a poten-
tially hazardous situation which, if not avoided, may result in pro-
perty damage.
WEAR PROTECTIVE CLOTHING
!Wear protective clothing (gloves, apron, etc.) approved for the materials and tools being used.

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 4
USE APPROVED SAFETY EQUIPMENT
!When cleaners are being used, approved explosion-proof lights, blowers, and other equipment must
be used. Make sure that fire fighting equipment is readily available and in working order.
GIVE CLEANERS SPECIAL CARE
!Keep cleaners in special polyethylene bottles or in safety cans and in minimum quantities. Discard soil-
ed cleaning rags into safety cans.
Equipment Safety Information
The following safety information briefly discusses hazards peculiar to the equipment, which are likely to be
encountered during maintenance activity.
GENERAL OPERATING LOCATION PRECAUTIONS
!This manual covers equipment for use under the following atmospheric conditions:
CAn oxygen concentration not greater then 21 percent by volume
CA nominal barometric pressure of one atmosphere
!Use only authorized replacement parts or hardware.
!Observe proper Lock-Out/Tag-Out procedures when working on the controller and make sure that per-
sonnel protection equipment such as electrical grounds are installed.
!Make sure that all of the electrical wiring is properly terminated. Make sure that all of the wire terminals
are securely connected.
!Avoid hazardous voltage situations that can result from unsafe conditions such as, but not limited to
the following:
CImproper grounding
CHandling electrical leads or devices with wet hands or on wet ground
CDamaged electrical wire insulation
CImproper connection or re-connection of the power terminals.
CShort circuits to ground

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 5
INTRODUCTION
1. Purpose of Manual
This manual provides component maintenance shop instructions for the Servo Motor Controller (con-
troller).
2. Scope of Manual
This manual is intended to provide information in sufficient detail to permit proper fault isolation main-
tenance, and repair of the controller.
3. Revision Service
This manual will be revised as necessary to show the current information.
4. Weights and Measurements
Weights and measurements in this manual are expressed in both English (U.S. customary) and Metric
(SI) units.

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 6
DESCRIPTION AND OPERATION
1. Description
A. The Servo Motor Controller (see Figure 1) is installed remotely from the valve it controls, in its
own explosion proof container or in a separate customer furnished cabinet. In either case, the
controller must be located within 600 feet (182 meters) wire run length from the valve.
B. The controller consists of a servo amplifier, a position control I/O card and a power converter
packaged in a compact unit with readily accessible interface terminations. The servo amplifier
is pulse-width modulated.
C. The servo amplifier is mounted on a cold plate for improved heat conduction when enclosure
mounted.
2. Operation (Refer to Figure 2)
A. General
The controller is designed for control of high speed brushless DC servo motors for precision posi-
tioning of valves used on aero-derivative and frame DLE and SAC turbine engines.
B. Features
1) Speed and current control loops and many other functions, such as DC BUS status moni-
toring, softstart and recovery circuit management, and the protections thresholds detection,
carried out through numeric algorithms.
2) The digital mode allows a maximum stability related to the aging, the temperature and the
various application cases.
3) Settings are carried out through numbers calculated by means of analytic models and do
not depend upon analog calibrations.
C. Capabilities
1) Any 3-phase brushless DC motor can be driven by entering a set of parameters which
adjust the current loop and identify the motor’s electro-mechanical characteristics.
2) Any type of asynchronous motor can be very well driven by vector control, working as a
brushless servomotor, by entering the magnetization current (ID) and the slip gain (fre-
quency) additional parameters. Other parameters, used in connection with the hardware
features in common with brushless motors, remain active.

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 7
Figure 1. Servo Motor Controller

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 8
Figure 2. Envelope Dimensions

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 9
3) The motor transducer can be both a resolver (2 to 24 poles) and an incremental encoder
(1024 to 8192 pulses).
3. Command Interface
Appendix A contains information on the commands available from the keypad on the controller’s front
panel.
4. Configuration Switches
The Configuration Switches on the front panel allow the controller to be configured for use with specific
Whittaker Controls valves, as follows:
VALVE PART NUMBER SWITCH ID1 SWITCH ID2
C422855-1 0 F
TBD 1 TBD
TBD 2 TBD
TBD 3 TBD

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 10
5. Specifications/Characteristics (Refer to Table 1)
Table 1. Servo Motor Controller Specifications/Characteristics
Type ............................................... Analogcontrolwithdigitalinterface
Temperatures
OperatingAmbient ......................................... 32to104°F (0 to 40°C)
Storage ............................................... –13 to 131°F (–25 to 55°C);
Excursions to 158°F (70°C) for up to 24 hours are acceptable
Electrical Data
Power Bus Input ......................................... Upto600 VDC (460 VAC)
Output Current Range ........................................... 5to140 amperes
ControlType ................................... ClosedLoop Position/Velocity Control
DigitalInput/Output..........................................................24VDC
Electrical Connections ..................................... TerminalStrip,AWG12to22
DESCRIPTION WHITTAKER PART NUMBER CONFIGURATION
Servo Motor Controller 159980 Analog, 4 to 20 milliampere,
CANBUS, CANOPEN, DS 402
159980-1 Adds Filter
159980-2 Adds Filter and Heater

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 11
INSTALLATION
1. General
This section and the installation drawing in Appendix C contain information on installation of the
controller in the system.
2. Installation
A. Electrical Interfaces
Tag Out and Lock Out! Be sure that power is off prior to touching
any electrical wires!
Hard wiring to terminal strips, conduit, conduit connectors.
B. Shielding
The shields on all of the cabling must be open at the device end and tied to the shield bar at the
control system interface, or tied to a common ground at the controller.
C. Cable Entries
All of the cable entries into the enclosures must be done using methods approved by local
certification agencies (i.e., CE, CENELEC, CSA, FM, etc.).
D. Cable Wire Sizing
All customer cabling conductors must be 18 AWG, except for the power wires connecting the
valve motor to the controller, which must be 12 AWG minimum.
E. Cable Lengths
1) The cable lengths between the controller and the valve must not exceed 180 meters (600
feet). All other cables should not exceed 600 meters (2,000 feet).
2) For signal cable lengths of more than 100 feet, 1.5 ohm, 0.25 watt resistors must be
connected across pins 7 and 8, and across pins 10 and 11.

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Page 12
F. Special Cable Capacitance Requirements
The customer cable connecting the resolver on the valve to the controller must have a capa-
citance of 40 pf/foot maximum, wire-to-wire, and a capacitance of 80 pf/foot maximum wire-to-
shield.
3. Typical Valve Travel Calibration Sequence
1) Command the valve to its fully open position (typically by applying 20 milliamperes via the
command interface).
2) Press and hold the ESC key.
3) Verify that LED indicators 2 and 3flash together, then release the ESC key. This indicates that
the analog input current is being measured by the motor controller. Do not adjust the command
current level during this step, or the calibration will fail.
4) When LED indicators 2and 3flash consecutively, the analog output current for the valve fully
open position can be manually calibrated.
5) Press the +and –keys to adjust the output current to 20.0.
6) Command the valve to its fully closed position (typically by applying 4 milliamperes via the
command interface).
7) Press the ESC key once.
8) Verify that LED indicators 2and 3flash together. This indicates that the analog input current is
being measured by the motor controller. Do not adjust the command current level during this
step, or the calibration will fail.
9) When LED indicators 2 and 3 flash consecutively, the analog output current for the valve fully
open position can be manually calibrated.
10) Press the + and – keys to adjust the output current to 4.0.
11) Press ESC key to end calibration. If LED indicator 4 comes on (green), the calibration was
successful. If LED indicator 1 comes on (red), the calibration failed. The calibration will fail if the
obtained calibration values exceed 2 percent of the nominal values.
12) Press and hold the Brightness (yellow) key until all four LED indicators flash. This indicates that
the calibration values have been saved to EEPROM.

WHITTAKER CONTROLS, INC.
A MEGGITT PLC COMPANY
MAINTENANCE MANUAL
SERVO MOTOR CONTROLLER – MODEL C159980
INDUSTRIAL PRODUCTS GROUP Revision 1.0 07/01/2005 Appendix A
APPENDIX A
DS2000 SERVODRIVE USER’S MANUAL
SECTION 6 – COMMANDS
NOTE: THE SERVODRIVE IS MODIFIED BY WHITTAKER CON-
TROLS TO MEET PERFORMANCE REQUIREMENTS. THE
SERVODRIVE IS NOT FIELD REPAIRABLE.

DS2000
Servodrive
User’s Manual
Section 6:
Commands
GB-4534 Rev. 8 06/04

SECTION SIX – COMMANDS
DS2000 USER’S MANUAL
6.1
6. COMMANDS
6.1.INTRODUCTION
The six keys on the drive front panel allow the visualization of the whole menu as well as the relevant drive con-
figuration. A further key allows the display contrast adjustment.
The keys can be divided according to their function:
• ENTER. This key allows to enter a menu and browse it. The variables scanning inside a menu is recursive.
In some cases, this key activates a routine function (i.e. inside the “Utility” menu).
• < >. These keys allow the menu horizontal scrolling from right to left and vice versa.
• + -. These keys allow to increase and decrease a variable. Holding the key down approx. 5 s the fast for-
ward starts.
• ESC. This key allows to go back inside the menu or terminate a function.
• ☼. Holding down the yellow key, it is possible to adjust the display contrast by means of the + / - keys. In
order to keep the setting, it is necessary to save the parameters before switching off the drive.
Fig. 6.1 – Drive front panel
Notes:
• First screen at drive start-up show you the DS2000 size. The DRIVE ENABLE and REFERENCE ENABLE
signals are shown in the start-up screen on the display by two stylised letters: “D” and “R” respectively.
• The first menu level can be accessed pressing ENTER. The first level is characterized by the two <> arrows
which indicate the possibility of scrolling the menu from right to left. To access the menu, press ENTER. To
go to the following parameter, press ENTER or < and > keys. The parameter scanning is recursive.
• To exit the menu, press ESC. Keep on pressing if the displayed parameter is not the first item of the menu.
• When the parameter to be modified is reached, press +/- to increase or decrease the variables.
• At start-up, after a reset, or a saving of parameters, the drive is in “locked keyboard” status in order to avoid
parameters and system settings accidental modifications. To modify parameters it is necessary to unlock the
keyboard. To unlock the keyboard it is necessary to activate the function “unlocked keyboard” inside the
“Keyboard locked” menu (see cap. 6.8).
• In order to save the modified parameters the function “Save Parameters” inside the “Utility menu” should be
used; the saving occurs only when drive is not enabled.
• In case of FAULT, the display light intensity is reduced
• The main menu is not “circular”; when the bottom is reached, press ESC or < to go back. The Enter button
can be used to go forward the menu.

SECTION SIX – COMMANDS
DS2000 USER’S MANUAL
6.2
6.2.MOTOR PARAMETERS MENU
Fig. 6.2 – Motor parameters menu
6.2.1.MOTOR PARAMETERS MENU DESCRIPTION
MOTOR PARAMETERS POLES= Description: it indicates the number of motor poles
Allowed values:
from 2 to 24 in 2 unit steps
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue.
MOTOR PARAMETERS SIZE= Description: it indicates the motor peak current
value
Allowed values:
from 1.0 A to the peak current supplied by the drive
in 100mA steps
Note: If this value is not available, it is possible to
obtain the peak current by means of the following
formula:
I
peak
=1.41*Tm/K
t
where Tm is the max torque in Nm and K
t
is the
motor torque constant in Nm/A
MOTOR PARAMETERS VOLTAGE= Description: it indicates the motor winding voltage
rating value
Allowed values:
• 230 V (for 230 V motors)
• 400 V (for 400/460 V)
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue

SECTION SIX – COMMANDS
DS2000 USER’S MANUAL
6.3
MOTOR PARAMETERS SPEED= Description: it indicates the nominal motor speed
Allowed values:
from 100 rpm to 9999 rpm in 10 rpm steps
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue
MOTOR PARAMETERS BEMF= Description: it indicates the motor generated back-
electromotive force value
Allowed values:
from 0 V to 750 V in 1 unit steps
Note: the drive uses this information to optimize
the current loop as a function of the motor rotation
velocity. If this value is not available, it is possible
to obtain the BEMF by means of the following for-
mula:
BEMF=K
t
*60.4
where K
t
is the motor torque constant in Nm/A
MOTOR PARAMETERS Rw= Description: it indicates the motor resistance
value, measured between phase and phase
Allowed values:
from 0 Ωto 100 Ωin 0.1 unit steps
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue. If this value is not available, it is pos-
sible to obtain it using a multi-meter (set as an
ohm-meter)
MOTOR PARAMETERS Lw= Description: it indicates the motor inductance
value, measured between phase and phase
Allowed values:
from 0 mH to 200 mH in 0.1 unit steps
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue. If this value is not available, it is pos-
sible to obtain it using a multi-meter (set as an in-
ductance-meter).
Attention: for G motors use the L
q
value instead of
L
tt
APHAPOS= Description: It indicates the phasing value correc-
tion between the position feedback (resolver or en-
coder) and the motor phases
Allowed values:
from 0 to ±255 in 1 unit steps
Note: This value can be automatically modified by
the PHASE procedure (see Appendix for default
values)
MOTOR PARAMETERS ID= Description: it indicates the magnetization current
value when using an asynchronous motor in vector
control mode
Allowed values:
from 0 to the peak current supplied by the drive in
100mA steps
Note: set the values indicated on the motor cata-
logue
MOTOR PARAMETERS SG= Description: it indicates the slip frequency (gain)
value for asynchronous motors control working in
vector control mode
Allowed values:
from 0 to 100 in 0.1 unit steps
Note: set the values indicated on the motor cata-
logue. If this value is not available, it is possible to
obtain it analysing the response to transients

SECTION SIX – COMMANDS
DS2000 USER’S MANUAL
6.4
INI PHASE SHIFT= Description: it indicates the starting speed for the
G motors algorithm, to improve phase shift at high
speed mainly for motors having 8-12 poles and
rotating over 3000 rpm
Allowed values:
from 100 to max speed drive in 10 unit steps
Note: see related application notes for additional
details
MAX PHASE SHIFT= Description: it indicates in electrical degrees the
max phase angle of the above algorithm
Allowed values:
from 0 to 50 in 1 unit steps
Note: see related application notes for additional
details
PTC/NTC SEL.= Description: Allow the selection between PTC or
NTC as thermal feedback
Allowed values:
• 0 (for PTC thermal feedback)
• 1 (for NTC thermal feedback)
Note: set the thermal feedback according to motor
data
ENCODER<>RESOLVER Description: it indicates the type of motor feed-
back
Allowed values:
• ENCODER (for ENCODER feedback)
• RESOLVER (for RESOLVER feedback)
Note:
6.2.2.RESOLVER PARAMETERS DESCRIPTION
RESOLVER PARAM. POLES= Description: it indicates the resolver poles number
Allowed values:
from 2 to 24 in 2 unit steps
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue
Attention: available only with resolver feedback
mode
ENC.OUT.PULSES CONFIGURATION= Description: it indicates the number of encoder
pulses output on J2C connector
Allowed values:
from 64 to 1024 pulses for resolver polar couple in
power of 2
n
Note: drive generates output pulses dividing the
input pulses anyway used for motor control
Attention: available only with resolver feedback
mode
ZERO LENGTH= Description: it indicates the marker width for drive
electric loop measurement output on J2C connec-
tor
Allowed values:
• 90°
• 180°
• 360°
Note: drive generates output pulses dividing the
input pulses anyway used for motor control
Attention: available only with resolver feedback
mode
6.2.3.ENCODER PARAMETERS DESCRIPTION
MOTOR PARAMETERS ENCODER= Description: it indicates the number of motor en-
coder pulses
Allowed values:
from 1024 to 8192 in 512 unit steps
Note: set the values indicated on the nameplate of
the motor or refer to the data indicated on the mo-
tor catalogue.
Attention: available only with encoder feedback
mode

SECTION SIX – COMMANDS
DS2000 USER’S MANUAL
6.5
6.3.DRIVE PARAMETERS MENU
Fig. 6.3 – Drive parameters menu
6.3.1.DRIVE PARAMETERS MENU DESCRIPTION
DRIVE ADDRESS DRVADDR= Description: it indicates drive address for serial
communication
Allowed values:
from 1 to 62
Note: set a progressive and different value per
each drive to obtain only one serial line to interro-
gate all the drives existing in the machine

SECTION SIX – COMMANDS
DS2000 USER’S MANUAL
6.6
PTCNTC THRESHOLD= Description: it indicates NTC/PTC threshold value
used to protect motor from overtemperature
Allowed values:
from 100 Ωto 10000 Ωin 1 unit steps
Note: set following value for Moog motor:
• 1200 Ωfor PTC thermal feedback
• 6500 Ωfor NTC thermal feedback
RECOVERY RESIST. RESREC= Description: it indicates the recovery resistor value
Allowed values:
from 3 Ωto 100 Ωin 1 unit steps
Note: set the value indicated on the drive label. If
the precise value is not available, set the higher
one. If the value is too high the drive will not be
able to dissipate the recovered energy
RR PROTECTION Description: protection against recovery resistor
thermal overload
Allowed values:
• 0 (for protection disabled)
• 1 (for protection enabled)
Note: see section 8 for additional details on this
function setup
RECOVERY RESIST. POWER= Description: nominal resistor power, used for re-
sistance thermal protection
Allowed values:
from 10 W to 6400 W in 1 unit steps
Note: see section 8 for additional details on this
function setup
RECOVERY RESIST. COEFF.= Description: special parameter, used for resistor
thermal protection
Allowed values:
from 1 to 32000 in 1 unit steps
Note: see section 8 for additional details on this
function setup
TACHO SCALE= Description: it indicates the max tacho signal
value obtained at max number of motor revolutions
Allowed values:
from 5 V to 10 V in 100 mV unit steps
Note: setting 10 V for the max speed value allows
to obtain a simple and direct ratio between read
value and speed
ANAL.REF. ZERO BAND= Description: set a dead band on the speed/torque
analog reference. Under this value the input is not
acquired
Allowed values:
from 0 to 128 (128 units = 0.625 V) in 1 unit steps
Note: it is useful to cut random or too big offset
from CNC. Set to 0 for normal operation
ANTIFREEWHEELING Description: enable ANTIFREEWHEELING func-
tion in following conditions:
• motor overtemperature
• drive overtemperature
• power lost
The drive brakes until null velocity is reached. If
recovered power is not enough the drive will shut
down without reaching null velocity. DRIVE EN-
ABLE signal has to be applied to activate this func-
tion
Allowed values:
• 0 (for disabled)
• 1 (for enabled)
Note: ACCELERATION and DECELERATION
ramps are active for a proper operation and emer-
gency stop