Copley Controls Accelnet Plus BEL Series User Manual page 20

Accelnet & Stepnet Plus Panels User Guide
V I
ELOCITY LOOP
In velocity mode, the Commanded Velocity command comes from one of the following sources:
•
Analog or digital PWM inputs
•
A network command, CAN, or RS-232 Serial.
•
A CVM indexer control program.
•
CMO, CML, or CPL program commands.
•
The drive's internal function generator.
•
In position mode, the velocity command is generated by the position loop error.
V L
ELOCITY OOP
The velocity command is limited based on the following set of parameters designed to protect the motor and/or
the mechanical system.
Limiter
Velocity Limit
Acceleration Limit
Deceleration Limit
Fast Stop Ramp
D : E
IAGRAM FFECTS OF
The following diagram illustrates the effects of the velocity loop limits.
Limited Velocity
Commanded Velocity
Accel Limit
NPUTS
L
IMITS
Description
Sets the maximum velocity command input to the velocity loop.
Limits the maximum acceleration rate of the commanded velocity input to the
velocity loop. This limit is used in velocity mode only.
Limits the maximum deceleration rate of the commanded velocity input to the
velocity loop. This limit is used in velocity mode only.
Specifies the deceleration rate used by the velocity loop when the drive is
hardware disabled. (Fast stop ramp is not used when drive is software disabled.)
If the brake delay option is programmed, the fast stop ramp is used to decelerate
the motor before applying the brake.
Note that Fast Stop Ramp is used only in velocity mode. In position mode, the
trajectory generator handles controlled stopping of the motor. There is one
exception: if a non-latched following error occurs in position mode, then the drive
drops into velocity mode and the Fast Stop Ramp is used.
For more information, see
L V
IMITS ON ELOCITY
Vel Limit
Following Error Fault
C
OMMAND
Decel Limit
16-01339 Rev 07
Details.