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User manual SID116 – 09.04.2015r. v.1.0 page 7
Value of each control interface can be calculated using linear function (f(x) = ax + b).
Driver is equipped with 4 main operating modes:
Open loop (PWM)
– set value is transmitted directly to power stage input as PWM duty with direction dependent
on sign. Maximal current is limited according to settings,
Current/torque adjustment:
o
Current adjustment – value is set by current in milli amperes (mA),
o
Current adjustment with maximal speed limitation – value set by current in milli amperes (mA),
maximal speed is limited according to settings (mode requires connection of encoder),
Velocity adjustment:
o
Velocity adjustment – set value is velocity in revolutions per minute (rpm),
o
Velocity adjustment with profile – set value is velocity in revolutions per minute (rpm);
acceleration, braking and maximal velocity are limited according to trapezoid velocity profile,
Position adjustment:
o
Position adjustment – set value is position in encoder pulses (steps).
o
Position adjustment with profile – set value is position in encoder pulses (steps); acceleration,
braking and maximal velocity are limited according to trapezoid velocity profile,
Mixed mode
: this mode is a mix of position adjustment and velocity with profile adjustment modes; this
mode allows smooth changes between velocity and set position according to defined velocity profiles.
Moreover at this mode velocity is expressed in pulses per second (steps/s) which allows velocity
adjustment in range smaller than 1 rpm.
First two adjustment modes do not require position feedback. For correct current adjustment with velocity limit
and all next modes it is necessary to connect driver of an
incremental encoder
. At position adjustment and all
next modes it is possible drive homing based on C encoder channel and mechanical limit or limit switch.
Furthermore, irrespective of operation mode driver is equipped with
dynamic brake
function and braking energy
recuperation function. While motor is at generator operation (motor shaft is driven by external mechanical
system, e.g. as a result of inertia or gravity) the motor energy is returned to power supply e.g. to charge device
battery. Excessive of energy is dissipated on internal resistor or on external in case of higher load.
