Control Loops; Digital Command Input - Copley Controls Accelnet Plus BEL Series User Manual

Accelnet & Stepnet Plus Panels User Guide
4.3 C L
ONTROL OOPS
Type
Current
Velocity
Position
Sampling rate (time)
Current
Velocity
Position
Current Loop Small Signal
Bandwidth
Digital Filters
Bus Voltage Compensation
4.4 D C
IGITAL OMMAND
Digital Position Command
Digital Current & Velocity
Command
100% digital.
16 kHz (62.5 µs)
4 kHz (250 µs)
4 kHz (250 µs)
> 2 kHz (Typical, tuning and load impedance dependent)
Programmable:
Analog Reference Input
Velocity Loop Input
Velocity Loop Output1
Velocity Loop Output2
Velocity Loop Output3
Current Loop Input1
Current Loop Input2
Input Shaping
Velocity loop output filter1 default: is 200 Hz low pass.
Changes in +HV voltage do not affect tuning.
I
NPUT
Pulse and direction,
Count up / count down
maximum rate
Quadrature A/B encoder
maximum rate
PWM frequency range
PWM minimum pulse width
2 MHz (with active driver)
2 M line/sec (8 M count/sec after
quadrature)
1 kHz - 100 kHz
220 ns
16-01339 Rev 07