• DOK-DIAX02-DDS02.1*ANA-ANW1-EN-E1,44 • 12.96
106
ENA3A-Abb52/InbetrDDS
Code no. and designation of the signals for analog output
desired position
motor position
motor speed
position loop gain factor
velocity loop proportional gain
velocity loop integral reaction time
velocity loop derivative/proportional gain
velocity loop smoothing time constant
command value smoothing filter time constant
ϕ
com.
ϕ
M
ω
K
v
K
p
T
N
K
DP
T
GL
T
SG
=
=
=
=
=
=
=
=
=
=
motor current
motor torque
load torque
i
m
d
m
L
=
=
=
current loop proportional gain
motor winding resistance
motor winding inductance
torque constant
EMF constant
motor mass moment of inertia
K
pi
R
A
L
A
K
M
c
ω
J
M
=
=
=
=
=
=
-
-
--
K
p
,T
N
,K
DP
,T
GL
K
pi
K
M
c
ω
ω
1
R
A
R
A
L
A
1
J
M
ϕ
M
m
L
m
d
i
V
elocity actual value
V
elocity command
Current command
Motor encoder sine signal
Motor encoder cosine signal
Position
calculation
sin
cos
Position actual value
ω
com.
T
SG
1
3: Command signal
9. Diagnostics and fault clearance
Fig. 87: Analog output signals on the DDS 2.1
