Product manual

Danaher Motion 05/2008 Advanced Configuration
S200-VTS Product Manual 91
ILmtPlus/ILmtMinus % of DIpeak
IlmtPlus and ILmtMinus are the clockwise and counter-clockwise current limits, respectively.
They set the maximum allowable torque current command in their respective directions. They
are a percentage of the drive’s peak current rating DIpeak.
ITMode Fault/Foldback
Selects whether the drive faults on too much peak current for too long, i.e., excessive I*t, or
folds the current limits back by clamping them to 67% (IFldBack) or less. If IlmtPlus and
IlmtMinus are set to 67% or less, fold back has no effect. See FoldBack for related information.
KIP 79.226*VBusScale/DIpeak to 19014*VbusScale / DIpeak V / A
KIP sets the proportional gain of the current loops. The bandwidth of the current loop in Hz is =
KIP/(Motor l-l L)/(2π). See the drive specification section for recommended bandwidths.
KPP 0.379 – 93.99 Hz
Not supported over SynqNet.
Sets KPP sets the proportional gain of the position loop in Hz. When OpMode = Position the
net velocity command (VelCmd) in rad/sec is:
VelCmd
= KPP*(2π)*(PosErr) + KVFF/100*d/dt(PosCmd)
KVFF 0 – 199 %
Sets the feed forward gain from the derivative of the position command directly to the velocity
command of the velocity loop and has the units of percent. When OpMode = Position the net
velocity command (VelCmd) in rad/sec is:
VelCmd = KPP*(2π)*(PosErr) + KVFF/100*d/dt(PosCmd)
KVI 0, 0.0238 – 753.9 Hz
KVI adjusts the velocity loop integral compensation. It sets the break out frequency between
predominantly integral compensation and predominantly proportional compensation. Higher
KVI values give higher integral gain and shorter time constants. A value of below 0.19 Hz turns
off KVI. There is no integral compensation only proportional from KVP. See the
Base Drive
Torque/Velocity Control Block Diagram for more information.
KVP 221.0e-6*DIpeak to 25.09*DIpeak ARMS/rad/sec
KVP sets the proportional gain of the velocity loop and has the units of ARMS/rad/sec. The
idealized velocity loop bandwidth in Hz is KVP*KT/JTOT/(2π) where KT is the motor’s torque
constant, JTOT is the total shaft inertia and the units of KT/JTOT should come out to
rad/sec2/ARMS. See the
Base Drive Torque/Velocity Control Block Diagram for more
information.
OpMode Current, Velocity, SetupS2-1, Position
Not supported over SynqNet.
OpMode selects between current/torque, velocity, and position control modes or whether the
SETUP1 hardware switch is used for selecting between current/torque or velocity operating
mode.
OpMode Description
000 Torque/Current Mode
001 Velocity Mode (default)
010 Setup DIP switch S2 position 1 (SetupS2-1 = 0 = Velocity).
011 Position Mode
Note: With SynqNet OpMode is written to by the SynqNet master over the network each
network update period. All SynqNet master versions that support the S200 can work in
Torque/Current mode. Newer SynqNet master versions can optionally be set to run the drive in
Velocity Mode.