Danaher Motion S200-VTS Product Manual

Contents

Danaher Motion S200-VTS Product Manual Manual pdf 84 page image

Advanced Configuration 05/2008 Danaher Motion84 S200-VTS Product Manual8.5.3 Read/Write NV ParametersARF0 1.518 – 96382 HzARF1 1.518 – 96382 HzARF0 and ARF1 set the break frequency in Hz for the two single-pole anti-resonance low passfilters in the forward path of the velocity loop. They are used to help accommodate mechanicalresonance in the system introduced by the load connected to the motor. See the Base DriveTorque/Velocity Control Block Diagram for more information.AuxFBDivisor 1 to 2,147,483,647 (Option Card Only)Supported over SynqNet.This parameter is the divisor used to scale the raw incremental encoder counts or the Sin-Cosencoder interpolated counts from the Aux Feedback interface to the Aux position word. If theAux Feedback device is used only for controller feedback then this parameter may be set toany value convenient for the application. If the Aux Feedback device is used to commutate themotor then it must be set to a specific value. For rotary motor commutation, this scalingconverts the Aux Feedback position word to a word with 24 bits per revolution. For linear motorcommutation, it converts to 24 bits per motor magnetic pole pitch distance. The table below listsa number of commonly desired settings for AuxFBDivisor.Incremental (A quad B) encoderNo motor commutation, 1 encoderquadrature count = 1 Aux Feedback count:AuxFBDivisor = 224 = 16,777,216Commutating a rotary motor or 24 bits perrevolution:AuxFBDivisor = number of quadraturecounts per mechanical revolutionCommutating a linear motor or 24 bits permagnetic pole pitch:AuxFBDivisor = number of quadraturecounts per magnetic pole pitch1 Vp-p Sin-CosNo motor commutation, 1 interpolation lsb =1 Aux Feedback count or 65536 counts/Sin-Cos cyle:AuxFBDivisor = 28 = 256Commutating a rotary motor or 24 bits perrevolution:AuxFBDivisor = number of Sin-Cos cyclesper mechanical revolutionCommutating a linear motor or 24 bits permagnetic pole pitch:AuxFBDivisor = number of Sin-Cos cyclesper magnetic pole pitchAuxFBType Type (Option Card Only)Supported over SynqNet.This parameter selects the type of feedback wired to the AuxFB connector. It is a combinationof the following single bit parameters:AFBHallDis, AFBDivisorSrc, AFBEnDatEnb, and AFBFBSrc.The following table defines the state of these parameters for each supported feedback device.Type AFBHallDis AFBEnDatEnb AFBDivisorSrc AFBFBSrcIncremental A Quad B Disable Disable AuxFBDivisor AQBIncremental A Quad Bwith Halls Enable Disable AuxFBDivisor AQB1 Vp-p Sin-CosIncremental Disable Disable AuxFBDivisor SCD1 Vp-p Sin-Cos Inc. withHalls Enable Disable AuxFBDivisor SCDEnDat 2.1 Disable Enable AuxPPR SCDEnDat 2.1 Linear Disable Enable AuxFBDivisor SCD