Product manual

Danaher Motion 05/2008 Advanced Configuration
S200-VTS Product Manual 79
8.1 Base Drive Torque/Velocity Control Block Diagram
2 Pole
Low Pass
Filter
CmdF0
CmdSrcCommand
Ana Cmd +
CmdSrc
X
xxxx
NV Setup
Parameter
J4-24
Σ
Reset Hold
Velocity Loop
Integrator
OpMode
2π* .
s
ILmtMinus
ILmtPlus
Net
Velocity
Command
Arms
+=CW
Trq/I
Velocity
or
Position
IFB
+
-
Net Drive
Enable
xxxx
Variable
Measured
Feedback
Velocity Feedback
Rad/sec
Current
Arms
Clamp
On
Ana Cmd -
J4-25
Σ
-
+
HSInp1 +
J4-10
HSInp1 -
J4-11
PWM
CmdGain
Analog
Serial
Σ
CmdOffset
+
+
CmdIn
2 Pole
Low Pass
Filter
ARF0 ARF1
Σ
+
+
VelErr
ICmdKVP
KVI
OpMode
Velocity
or
Trq/I
+=CW
Net
Torque
Command
Analog
or
PWM
VelCmd
Position
Position
VelFB