Copley Controls Accelnet Plus BEL Series User Manual page 23

Accelnet & Stepnet Plus Panels User Guide
T L
RAJECTORY IMITS
In position mode, the trajectory generator applies the following user-set limits to generate the motion profile.
Limiter
Maximum Velocity
Maximum Acceleration
Maximum Deceleration
Abort Deceleration
P L I
OSITION OOP
The position loop receives the following inputs from the trajectory generator.
Input
Profile Velocity
Profile
Acceleration
Limited Position
P L G
OSITION OOP
The following gains are used by the position loop to calculate the velocity command:
Gain
Pp - Position loop
proportional
Vff - Velocity feed forward
Aff - Acceleration feed
forward
Gain Multiplier
P L F
OSITION OOP
Accelnet & Stepnet Plus models support two position feedback configurations:
•
Single sensor. Position and velocity feedback comes from the encoder or resolver on the motor.
•
Dual sensor. Position feedback comes from the encoder attached to the load.
Velocity feedback comes from the encoder mounted on the motor
For more information, see Feedback (p. 15).
P L O
OSITION OOP
The output of the position loop is a velocity command used as the input to the velocity loop.
Description
Limits the maximum velocity of the profile.
Limits the maximum acceleration rate of the profile.
Limits the maximum deceleration rate of the profile.
Specifies the deceleration rate used by the trajectory generator when motion is
aborted.
F T
NPUTS ROM THE RAJECTORY
Description
The instantaneous velocity value of the profile.
Used to calculate the velocity feed forward value.
The instantaneous acceleration/deceleration value of the profile.
Used to calculate the acceleration feed forward value.
The instantaneous commanded position of the profile.
Used with the actual position feedback to generate a position error.
AINS
Description
The loop calculates the position error as the difference between the actual
and limited position values. This error in turn is multiplied by the
proportional gain value. The primary effect of this gain is to reduce the
following error.
The value of the profile velocity is multiplied by this value. The primary
effect of this gain is to decrease following error during constant velocity.
The value of the profile acceleration is multiplied by this value. The primary
effect of this gain is to decrease following error during acceleration and
deceleration.
The output of the position loop is multiplied by this value before being
passed to the velocity loop.
EEDBACK
UTPUT
G
ENERATOR
16-01339 Rev 07