(Automatically modified if 10778(Effort)>=0 and 10779<>0) Maximum torque used during the binary search reference finder operation. The actual torque applied depends on the motor and the loading.

This torque limit is defined as a % of the "RMS rated motor torque, tcnt" (DataID 10612). By default, this limit is set to 100%.

The incremental torque step applied when increasing the torque during the search reference operation. This value determines the granularity of the torque used to create motor movement. As a side effect, this parameter also affects the total time for the search operation. A larger value means a faster search while the total motor movement may also be larger.

This torque step is defined as a % of the "RMS rated motor torque, tcnt" (DataID 10612). By default, the step is set to 0.5%.

(Automatically modified if 10778(Effort)>=0)  This value specifies the minimum motor movement that must be detected for the system to consider that the applied torque and commutation angle were sufficient to generate a motion.  As soon as this minimum motion is detected, the search step is terminated.  Therefore, this angle defines the sensitivity of the search operation.  A larger value results in more motor movement. However if this value is too small, the search may terminate prematurely, resulting in an incorrect reference angle estimation, and extended search times due to incorrect intermediate results.

This angle is defined in terms of motor phase electrical degrees. The default value is 2.8 degrees.

(Automatically modified if 10778(Effort)=100) This parameter is utilized if the axis is subject to a significant constant load, such as heavy gravity loading.  If the axis is subject to a significant load, this parameter specifies the direction that the load will move the axis. If the axis is subject to a light or no load (e.g. light gravity load), this parameter should be set to 0.

A positive value indicates that the load will pull the axis in the direction of increasing raw encoder counts while a negative value implies the axis is pulled in the direction of decreasing encoder counts.

If this parameter is non-zero, the motor brake is not released during the search operation to avoid having the axis drop.  If this parameter is zero, the brakes are released during the search.

The default value is 0, i.e. the axis is not subject to a significant constant load and load compensation is disabled.

(Automatically modified if 10778(Effort)>=0) If the "Axis load direction" (DataID 10763) is set to a non-zero value, this parameter limits the maximum motion in the load direction when the brake is released after the search is completed and the verification process is performed. If the motor moves more than the specified value, the brake will be engaged and the verification operation will fail.

The direction of detection is determined by the "Axis load direction" (DataID 10763). There is no difference between setting a positive or negative value for this parameter.

(Automatically modified if 10778(Effort)>=0 and 10779<>0 ) If non-zero, the search operation starts by outputting a torque that is a % of the "RMS rated motor torque, tcnt" (DataID 10612). Normally the search starts with a zero torque value. If specified, this torque will prevent a moderately gravity loaded axis from dropping and will reduce the amount of time for the search operation especially for high friction/loaded axes.

This torque value is defined as % of the "RMS rated motor torque, tcnt" (DataID 10612). By default, the value is set to 0.0%.

This is an internal control variable. It is used to switch the binary search to a special mode that will further reduce the amount of motion. The use of this mode may not be suitable for all systems.

The default value is 0, which means the special mode is turned off.  *This value should normally not be modified.*

Specifies the delay time after the motor current is turned on or off during the search process.  This allows the motor motion to settle before the start of next search step.

Increase this value if the mechanism shows excessive vibration during the search process. This will not reduce the vibration but will allow more time for the vibration to settle.  Decreasing this value will reduce the total search time, however, it may reduce the search accuracy or even result in a search failure if the value is too small.  In general, this value should not be changed unless the search time is not acceptable.

The default value is 0.075 second. This value is suitable for most mechanisms.

After the first search operation is completed and the commutation angle is estimated, this is the amount of time the system will delay after the brake is released.  This permits any motor movement caused by the brake release to settle before the search continues.

The default value is 0.25 second.

After the entire search operation is completed, the brake is engaged. The system will wait for the amount of time specified by this parameter before turning off the motor current.

The default value is 0.25 second.

During the verification process defined by DataID's 10776 and 10777, this parameter specifies the delay time in seconds after the offset is applied and before the motor position is read. Following this delay, the actual position change is recorded and converted into electrical degrees. Then this angular change is checked against the commanded commutation angle. The difference must fall within a preset % limit (DataID 10777) in order to pass the check.

The default value is 0.5 second.

(Automatically modified if 10778(Effort)>=0) Defines the electrical angle offset employed to verify the results of the reference process. This offset is applied in both the positive and negative directions.  After each application of the offset value, the direction and magnitude of the resulting change in motor position must be consistent with the commanded change in electrical angle.  If the direction is incorrect or the change in position is not within a tolerance defined by DataID 10777, the check will fail.

The default check angle offset is 14 electrical degrees.

(Automatically modified if 10778(Effort)>=0) Maximum permitted commutation angle check deviation percentage. It is important to set this value according to the system behavior. A small value implies a tight constraint for a successful search.  However, in most cases, a large value is acceptable since it is typically only necessary to verify the proper direction of motion. The tolerance % is calculated based on the electrical angle deviation divided by 360. See also DataID 10776.

The default value is 4.47% (16.1 electrical degrees). This was selected so as to force a "direction only" check.

This is an ease-of-use parameter that modifies a number of parameters for the binary search method based upon a specified "effort-level".  The normal effort-level range is from 0 to 99. A small value creates less motor movement but is also less reliable if the axis is subject to mechanical disturbances (e.g. friction, hard stops, gravity, etc.). A large value creates more motor movement but has a higher reliability in the face of disturbances with lower accuracy.

A negative value disables the use of this parameter and allows individual values to be set.

A value of 100 will disable the "Axis load direction" (DataID 10763) setting. This special mode can be used for heavily gravity loaded axes with very strong brake forces.

The default value is 35.

If the "Search ref operation effort" (DataID 10778) is zero or greater, this parameter can be set non-zero to enable automatic handling of gravity loaded axes.  If this parameter is set non-zero, the "Search ref torque limit %" (DataID 10760) and the "Search ref pre-load torque %" (DataID 10769) value will be automatically managed.

The default value is 1.