Installation manual

12
Epsilon EP-B Base Drive Reference Manual
Figure 12: Summation Mode Block Diagram
.
Figure 13: Velocity vs. Time Diagram, Analog + Preset Summation Sub-Mode
Torque Mode
In Torque mode both the position and velocity loops are disabled and only the torque loop is enabled.
Velocity related faults and velocity related input and output functions are still enabled (including Stop and Travel
Limits).
In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque Command by the Full Scale
Torque, Analog Input Full Scale, and Analog Input Zero Offset parameters. The equation is:
Where:
TC = Torque Command
AI = Analog Input (volts)
AZO = Analog Input Zero Offset (volts)
FST = Full Scale Torque (%)
AFS = Analog Full Scale (volts)
Pulse Mode
In Pulse mode, the drive will receive pulses which are used to control the position and velocity of the motor.
There are three pulse interpretations associated with Pulse mode: Pulse/Pulse, Pulse/Direction and Pulse/Quadrature.
These selections determine how the input pulses are interpreted by the drive.
Summation Point
Velocity Command
Analog
Velocity
Command
Preset
Velocity
Command
Preset
Velocity 0
Preset
Velocity 1
Preset
Velocity 2
Preset
Velocity 3
Analog
Input
2200
2000
1800
1600
1400
1200
1000
800
600
400
200
0
VELOCITY
(+)
TIME
Velocity Command
Analog Velocity Command
Preset Velocity Command
A
FS
FST) AZO) ((AI
TC
−
=