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RESET
Sets and holds the position error at zero.
POS CALC ENABLE
Enable the computation of position error, disabling this also zeros the
position error.
POSITION ERROR
Clamped Error output. This is the primary output of the phase loop
function block. Position error is not usually used directly but instead
connected to the PID input (first disconnecting the PID error calculator).
The PID is then used either directly or more commonly as a speed
correction.
SATURATED
Position Error output has been clamped. Error information is still valid
until the OVERFLOW flag is set. It is not uncommon for this flag to be set
during rapid accelerations where torque limit is reached. For optimal
operation torque limit must never reached.
OVERFLOW
Position Error has overflowed and phase information has been lost. This is
because the error has exceeded
±
1,000,000,000 counts, about 120,000
revolutions with a 2048 line encoder.
MAX POSITION ERR
Limit clamp for position error.
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OFFSET
Fixed offset scaled by OFFSET SCALE and added to position error, in
encoder counts1.
OFFSET SCALE
Scalar for offset to allow greater range.
OFFSET TRIM
Trim offset added into position error.
Note: The total offset is a 32 bit quantity made up of the sum of offset and
offset trim. Total Offset = (Offset * Offset Scale) + Offset Trim
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ENABLE
If enabled the phase loop offset is defeated and the offset is obtained
alternately from OFFSET 1 and OFFSET 2 at a rate determined by PERIOD.
The test mode may be used to commission the PID for the phase loop.
OFFSET 1
Phase test mode offset 1.
OFFSET 2
Phase test mode offset 2.
PERIOD
Rate at which the test cycle operates.
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REF SCALE A
Multiplicand for reference encoder.
REF SCALE B
Divisor for reference encoder.
Example: Reference encoder has 1000 line and Master has 2048 lines then
for 1:1 phase locking Ref. Scale A and B should be set to 2048 and 1000
respectively.
FBK SCALE A
Multiplicand for feedback encoder.
FBK SCALE B
Divisor for feedback encoder.
1
Note: Encoder counts are equal to four times the number of lines on the encoder.
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