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5.2.3 Set point management
For speed controlled and torque controlled modes of operation, the set point can be set via a set point
management.
Possible set point sources are:
3 analogue inputs:
AIN 0, AIN 1 und AIN 2
3 fixed values:
1
st
value: setting depending on controller enabling logic:
fixed value 1 or
CANopen bus interface
2nd and 3rd value: setting of fixed values 2 and 3
SYNC input
Additional incremental encoder input [X10]
If no set point source is activated, the set point is zero.
The set point management has a ramp generator with a preceding adder. Any of the above-mentioned
set point sources can be selected via the corresponding selectors and run through the ramp generator.
Additional sources can be selected as set points using two more selectors. These, however, cannot be
run through the ramp generator. The total set point is then a summation of all values. The acceleration
and deceleration times of the ramp are directionally parameterisable.
5.2.4 Torque-controlled mode
In torque-controlled mode a certain set point torque is set, which the servo drive generates in the
motor. In this case only the current controller is activated, since the torque is proportional to the motor
current.
5.2.5 Speed-controlled mode
This mode of operation is used, if the motor speed is to be kept constant regardless of the acting load.
The motor speed exactly follows the speed set by the set point management.
The cycle time of the speed control loop for the servo drive ARS 2100 SE is twice the PWM period
duration, thus typically 208,4 µs. However, it can also be set as an integer multiple of the current
controller cycle time.
Product Manual „Servo drives ARS 2100 SE“
Version 5.0
