Product manual

Advanced Configuration 05/2008 Danaher Motion
80 S200-VTS Product Manual
8.2 Base Drive Position Control Block Diagram
HSINP1 +
PosCmdSrc
xxxx
NV Setup
Parameter
J4-10
Σ
Net
Position
Command
Rad/Sec
+
-
xxxx
Variable
Measured
Feedback
Position Feedback
Rad
HSINP1 -
J4-11
AQuadB
Step-Dir
Σ
+
+
PosErr
VelCmd
Position
KPP
Net
Velocity
Command
PosFB
DINP4
J4-5
DINP COM
J4-1
CH A OUT/IN +
J4-19
CH A OUT/IN -
J4-20
CH B OUT/IN +
J4-21
CH B OUT/IN -
J4-22
Step-
Direction
Decode
Opto
Inputs
Quadrature
Decode
RS-485
Inputs
Digital
Accum
Digital
Accum
200 nSec 6.4 µSec
Delta
d
dt
GearOut
GearIn
6.4 µSec
819.2 µSec
Delta
d
dt
100
KVFF
+=CW
Rad
Counts
to
Rad
Counts
Step
Dir
2π* .