Copley Controls XEL-230-18, Руководство пользователя

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Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 25
2.2.6: Position Mode and Position Loop
Position Loop Diagram
The drive receives position commands from the digital or analog command inputs, over the CAN
interface or serial bus, or from the CVM Control Program. When using digital or analog inputs, the
drive's internal trajectory generator calculates a trapezoidal motion profile based on trajectory limit
parameters. When using the CAN bus, serial bus, or CVM Control Program, a trapezoidal or S-
curve profile can be programmed. The trajectory generator updates the calculated profile in real
time as position commands are received.
The output of the generator is an instantaneous position command (limited position). In addition,
values for the instantaneous profile velocity and acceleration are generated. These signals, along
with the actual position feedback, are processed by the position loop to generate a velocity
command.
To bypass the trajectory generator while in digital or analog position modes, set the maximum
acceleration to zero. The only limits in effect will now be the velocity loop velocity limit and the
current limits. (Note that leaving the maximum acceleration set to zero will prevent other position
modes from operating correctly.)
The following diagram summarizes the position loop.