Control Loops; Digital Command Inputs - Copley Controls Accelnet Plus AEV-090-14 User Manual

Accelnet Plus Micro Modules User Guide
C L
ONTROL
Type
Current
Velocity
Position
Sampling rate (time)
Current
Velocity
Position
Current Loop Small Signal
Bandwidth
Digital Filters
Bus Voltage Compensation
D C
IGITAL OMMAND
Digital Position Command
Digital Current & Velocity
Command
Indexing
Camming
Serial ASCII
*
Format is RS-232, TxD, RxD, Gnd but voltage levels are TTL.
An external circuit is required if RS-232 voltages are needed.
This circuit is provided in the EZ Boards and EZ Development Boards.
Copley Controls
OOPS
100% digital.
16 kHz (62.5 µs)
4 kHz (250 µs)
4 kHz (250 µs)
> 2.5 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
NPUTS
Pulse and direction,
Count up / Count down
Pulse, count minimum
width
Quadrature A/B encoder
maximum rate
PWM and Polarity
PWM 50%
PWM Minimum pulse width
Up to 32 sequences can be launched from digital inputs or
ASCII commands
Up to 10 CAM tables can be stored in flash memory
RS-232 *, 9600~230,400 Baud, 3-wire
16-01687 Rev 03
Maximum rate:
2 MHz (with active driver)
220 ns
2 M line/sec (8 M count/sec after
quadrature)
PWM = 0~100%, Polarity = 1/0
PWM Frequency: 1~100 kHz
PWM: 50% ±50%, 1~100 kHz
220 ns
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