Allen-Bradley 1394 SERCOS, Руководство пользователя

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Pu
blic
atio
n 1
394
-5.
0 —
Ma
y
2000
8-2
8
Confi
gur
ing Y
our 1
394 An
alog
Ser
vo Sy
stem
139
4 Anal
og
Se
rv
o
S
o
ft
war
e
Di
agr
ams
The
f
o
ll
o
w
ing
dia
g
ra
m
s de
scr
ib
e t
h
e
cont
ro
l
loo
p
s o
f t
h
e 1394
ana
lo
g
se
rv
o s
y
st
em
.
Fig
u
re 8.
1
1394 Analo
g
S
er
vo
S
o
ftwar
e Dia
g
ra
m (par
t 1)
TORQUE SOURCE TABLE
0 = VEL OUT
1 = VEL + Dtrq + PLd
2 = DIG Torq
3 = VEL + ATrq + PLd
4 = ATrq1 + PLd
5 = ATrq2 + PLd
MODE SELECT TABLE
0 = ANALOG VEL
1 = ANALOG TORQ
2 = DIGITAL VEL
3 = DIGITAL TORQ
112
MODE SEL
360
TORQ SOURCE
220
VEL COMMAND
S
+
-
S
+
-
S
+
-
X +
+
376
FEED FWD GAIN
X +
+
368
PROP GAIN Kp
X +
+
372
INTG GAIN Ki
S
+
+
S
+
-
X +
+
380
DROOP
A/D
+/- 10v
(3V = 8192)
CURRENT LIMITER
184
POS CUR LIM
188
NEG CUR LIM
116
CURRENT LIMIT
192
CUR RATE LIM
344
I(t) CUR LIM
260
BRIDGE LIM
228
CUR LIM CAUSE
232
Iq CUR REF
164
CUR PRELOAD
DIG TORQ REF
212 356
INT TORQ REF
X +
+
10
D/A 1 Gain
D/A 1 VALUE
12
+/- 10v
(10V = 128)
A/D
+/- 10v
(10v = 32767)
VELOCITY SOURCE TABLE
0 = ANALOG VEL
1 = DIGITAL VEL
2 = DIGITAL
3 = ZERO INPUT
364
VEL SOURCE
276
ANLG VEL OFST
S
+
+
X +
+
272
ANLG VEL SCAL
0
348
JOG VEL
VEL REF WHOLE
204
VEL REF FRACT
208
S
+
+
VELOCITY LIMITER
128
CW VEL LIM
132
CCW VEL LIM
120
VEL LIM
136
VEL RATE LIM
352
INT VEL REF
124
MTR PEAK CUR
ATUNE FRICTN
300
INPUT SOURCE ###
### READ ONLY, TEST PT
### CONFIGURATION
TYPICAL LINK
V
elocity F
eedbac
k
V
elocity F
eedbac
k (filtered)
404
MOTOR TYPE
104
MTR RATED CUR