Elmo ISP manual Velocity control using armature voltage feedback, Current mode

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easily replaced in cases when COMP trimmer range is not enough to get optimum result.

The output of the error amplifier is:

1 + SxC1xR5

Vo = (V1Gv1 + V2Gv2) x [ --------------------------- ]

1 + SxC1xR5(1 + RfxKi/R5)

V1,V2, - Input signals

Gv1,Gv2 - Gain of inputs.

Ki = Position factor of the wiper of COMP trimmer.

Full CW = 0.1

Full CCW = 1

The feedback element must be connected for negative feedback.

The polarity of the ISP servo amplifiers is such that a positive input signal results in a negative voltage at terminal M1 with respect to terminal M2.

4.2.1Velocity control using armature voltage feedback

By inserting R8 to its solderless terminals, the armature voltage is fed into the error amplifier to be used as a velocity feedback. This feature is useful for all cases when low regulation ratio and low speed accuracy are acceptable.

4.3Current mode

In order to operate the servo amplifier as a current amplifier, the velocity loop should be disabled. This is done by converting the error amplifier into a low gain DC amplifier which has a flat response beyond the desired current bandwidth. In this mode, R6 and C1 have to be removed from the circuit.

ISP - Rev 6/95

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Contents Rev 6/95 ISP Rev 6/95 ELMO-WARRANTY Performance Read chapters Table of Contents Balance adjustment Current limit adjustment Description Standard featuresProtective functions Technical specifications Type DesignationOperation of the servo control Inputs Velocity mode Velocity control using armature voltage feedback Current modeCurrent limits Current loopTime dependent peak current limit Dynamic contouring of continuous and peak current limits Operation of the shunt regulator Protective functions Temperature protectionLoss of velocity feedback signal Short circuit protectionCurrent Command Monitor Input ISP Control Board Page Contact rating 0.5A, 200V, 10W Terminals of ISP Panel Version Mother Board terminals MBA-ISP/N Terminals for ISP mounted in 3U size ENC GNDContact rating 0.5A, 200V, 10W Page MBA ISP/3UE Installation procedures Mounting WiringLoad inductance AC power supply2Vdcmin Vdc 0.9Vdcmax Wiring diagrams ISP GNDGround Do not groundAC ISP ISP Control Connections Tachogenerator Feedback ISP Control Connections Armature Voltage Feedback Start Up Procedures Disable by LowEnable by High ISP Control Board Selecting the reference signal gain Converting the amplifier into current modeSee .1 for calculation of other values Activating the loss of tacho protection velocity mode only For VtmVelocity control using tachogenerator feedback Latch mode of the protective functionsActivating the dynamic contouring of the current limits For ISP-X/135 For ISP-X/65IxR compensation Balance adjustment Amplifier adjustment and diagnosticsCurrent limit adjustment Adjusting the motor speed velocity mode only Adjustment of the IxR compensationResponse adjustment velocity mode only Typical velocity response waveforms ISP Rev 6/95 Tables and Summaries Adjusting trimmers LED diagnosticsAppendix a Response adjustment current loop Fig. A-1 Typical current response waveforms ISP Rev 6/95 Appendix B Current limits contour adjustment Velocity TorqueDynamic contouring with armature voltage feedback ISP Rev 6/95 SP1 TOP View SP1 Side View SP1 Side View SP2 TOP View SP2 Side View SP2 Side View SP3 TOP View SP3 Side View SP3 Side View SP4 TOP View SP4 Side View SP4 Side View ISP Rack Mounting 8T and 15T TOP View ISP Rack Mounting 3U/8T Side View 128.7 Front Panel for ISP 3U/8T ISP Rack Mounting 3U/15T -SIDE View ISP Rack Mounting 3U/15T Side View Front Panel for ISP 3U/15T ISP Rack Mounting 3U/12T and 3U/19T TOP View ISP Rack Mounting 3U/12T -SIDE View ISP Rack Mounting 3U/12T Side View Front Panel for ISP 3U/12T ISP Rack Mounting 3U/19T -SIDE View ISP Rack Mounting 3U/19T Side View Front Panel for ISP 3U/19T Enclosure Mechanical Outline List of Elmo Service Centers Europe