Input Command Types - Copley Controls Accelnet Plus BEL Series User Manual

Accelnet & Stepnet Plus Panels User Guide
P W
OSITION RAP
The position wrap feature causes the position reported by the drive to "wrap" back to zero at a user-defined
value instead of continually increasing. Once set, the reported position will be between 0 and n-1 where n is
the user entered wrap value. This feature is most useful for rotary loads that continually turn in one direction
and only the position within a revolution is of interest to the user.
With the wrap value set, relative moves will move the relative distance called for. Example: if the wrap value is
set to 1000 and a relative move of 2500 is commanded, the axis will turn 2 ½ revolutions.
Absolute moves will move the shortest distance to arrive at the programmed position. This could be in the
positive or negative direction. Moves programmed to a point greater than the wrap value will cause an error.
To configure the position wrap feature, see the CME User Guide.
3.5 I C
NPUT OMMAND
The drive can be controlled by a variety of external sources: analog voltage or digital inputs, CAN network
(CANopen), EtherCAT, CoE (CANopen application protocol over EtherCAT), MACRO or from an RS-232 serial
connection using ASCII commands. The drive can also function as a stand-alone motion controller running an
internal CVM or CPL program or using its internal function generator.
A C
NALOG OMMAND
O
VERVIEW
The drive can be driven by an analog voltage signal through the analog command input. The drive converts
the signal to a current, velocity, or position command as appropriate for current, velocity, or position mode
operation, respectively. The analog input signal is conditioned by the scaling, dead band, and offset settings.
S
CALING
The magnitude of the command generated by an input signal is proportional to the input signal voltage. Scaling
controls the input-to-command ratio, allowing the use of an optimal command range for any given input voltage
signal range.
For example, in current mode, with default scaling, +10 Vdc of input generates a command equal to the drive's
peak current output; +5 Vdc equals half of that.
Scaling could also be useful if, for example, the signal source generates a signal range between 0 and +10
Vdc, but the command range only requires +7.5 Vdc of input. In this case, scaling allows the drive to equate
+7.5 Vdc with the drive's peak current (in current mode) or maximum velocity (in velocity mode), increasing
the resolution of control.
D B
EAD AND
To protect against unintended response to low-level line noise or interference, the drive can be programmed
with a "dead band" to condition the response to the input signal voltage. The drive treats anything within the
dead band ranges as zero, and subtracts the dead band value from all other values. For instance, with a dead
band of 100 mV, the drive ignores signals between –100 mV and +100 mV, and treats 101 mV as 1 mV, 200
mV as 100 mV, and so on.
T
YPES
I
NPUT
16-01339 Rev 07