Velocity Mode; Velocity Mode Reference Sources; Velocity Mode Offset Adjust; Programmable Torque Limiting In Velocity Mode - Moog T200 User Manual

T200 User's Manual
SECTION 6: T200 FUNCTIONAL OVERVIEW
6.7.2

Velocity Mode

In velocity mode the T200 closes a PI loop to track an analog command, a function generator command, a digital
reference input command, or a velocity command from an internal position loop.

6.7.2.1 Velocity Mode Reference Sources

Five sources of velocity command may be user-programmed:-
1/ Internal Function Generator. The T200 provides an internal software function generator. The function generator
produces rectangular pulses which provide a means of exciting the load, in order to diagnose applications problems or
tune the T200. The Velocity Amplitude, Offset, Period of excitation and Duty Cycle are programmable. See Section
6.5 Internal Function Generator for further information.
2/ Analog Source:- The analog command input is limited to the range ±10V. A 10V command will tend to rotate the
motor at the user-programmable RPM_Per_10V (RPM_per_10V defaults to the motor's Nominal Speed). The transfer
function from voltage to velocity command is given by:-
V Nominal_Sp eed
=
commnd
V 10 V
in
where Vin is the measured command voltage in volts, and V is the commanded motor velocity.
command
3/ Point Motion Controller Source:- The T200's integral Point motion controller creates a velocity command as an
output of loop closure function blocks. This function is available in the 'P' software version only.
4/ Digital Speed Reference Source:- The digital inputs PROG_SPD_0 and PROG_SPD_1 are used as indicators of the
velocity at which the T200 should rotate. The operation of these inputs is described in Section 6.4.10 Programmable
Speed Functions.
5/ CAN Velocity Mode:- As a subset of position mode operation, the T200 can be operated such that a digital velocity
reference and a torque limit are transferred cyclically via the CAN interface, in Profile Mode. Operation of the CAN
interface is described in Section 9.

6.7.2.2 Velocity Mode Offset Adjust

An automatic analog offset adjust mechanism exists for the analog velocity reference. This operates in exactly the same
way as the offset-adjust in torque mode. See Section 6.7.1.2 Torque-Command Analog Offset Adjust.

6.7.2.3 Programmable Torque Limiting in Velocity Mode

The T200 uses the Automatic and Manual Torque Limits as described in Section 6.4.7 Automatic and Manual Power
Settings, under the control of the AUTO_MAN digital input.

6.7.2.4 Programmable Velocity Limiting in Velocity Mode

The T200 applies the Automatic_Mode_Velocity_Limit and Manual_Mode_Velocity_Limits in velocity mode. The
T200 will ensure that the actual velocity never exceeds the particular Velocity_Limit (which is selected from either the
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