Elmo ISP manual Response adjustment velocity mode only

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8.5Response adjustment (velocity mode only)

In most applications optimum response is achieved by adjusting the compensation (COMP) trimmer. Adjustment procedure is as follows:

-Provide the amplifier with a low frequency, bi-directional square wave velocity command (A 0.5Hz, ñ2.0V waveform is often employed)

-Apply power to the amplifier, and while monitoring the tachometer signal, gradually adjust the COMP trimmer from the CCW toward the CW position. Optimum response (critically-damped) should be achieved at some position before reaching full CW on T4. Fig 8.1 illustrates the types of waveforms observed for various setting o T4.

In some applications, especially those where the load inertia is much smaller

or larger than normally encountered, the standard compensation components values of 0.022æF for C1 and 470Kohm for R5 may not allow an optimum setting of the COMP trimmer T4. In fact, the velocity loop may be unstable for any setting of T4.

In these cases different values for C1 and R5 must be chosen. The following procedure can be used to select these values:

-Short circuit C1 with a short jumper wire.

-Replace R5 with a decade resistance box. Initially set the box resistance at 20Kohm.

-Set T4, the COMP trimmer to approximately midrange.

-Input a 0.5Hz, ñ2V bi-directional square wave velocity command signal to the amplifier.

-Apply power, and while monitoring the tachometer signal, gradually increase the value of the box resistance until optimum response a depicted in Fig 8.1 is achieved.

-Substitute the closest standard value discrete resistor for R6 and

remove the decade resistance box.

-Remove the shorting jumper across C1, and again check the response using the squarewave test signal. If near optimum result are obtained, trim the response using the COMP trimmer T4 for the optimum.

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 Standard features DescriptionProtective functions Technical specifications Type DesignationOperation of the servo control Inputs Velocity mode Velocity control using armature voltage feedback Current modeCurrent loop Current limitsTime 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 WiringAC power supply Load inductance2Vdcmin 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 Converting the amplifier into current mode Selecting the reference signal gainSee .1 for calculation of other values Activating the loss of tacho protection velocity mode only For VtmLatch mode of the protective functions Velocity control using tachogenerator feedbackActivating the dynamic contouring of the current limits For ISP-X/65 For ISP-X/135IxR compensation Amplifier adjustment and diagnostics Balance adjustmentCurrent 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