Elmo ISP manual Velocity mode

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The current

gain of the differential input in velocity mode is given by:

 

 

266

x Ic

Gvd = ----------------

(A/V)

R3

x R6

R3,R6 in Kohm

 

The maximum input voltage at terminals 1 or 5 is calculated by:

Vinmax = 10 + 0.6Ri(Volts)

Ri in Kohm

The maximum input voltage at terminals 3,4 is calculated by:

Vdmax

= 10 + R3

(Volts),

R3=R4

in Kohm

 

4.2Velocity mode

In this mode op amp U1/A is employed as a high gain error amplifier The amplifier sums velocity command and the tachogenerator feedback signal, and provides the necessary servo compensation and gain adjustments, resulting in stable, optimum servo operation.

This op amp is configured with two feedback paths:

One, in the form of a resistive T network, controls the DC gain of this amplifier. The equivalent value of a T network is given by:

1010

Rf= --------

R6

Resistor R6 is mounted in solderless terminals so it can be changed easily whenever the DC gain of the error amplifier is to be changed. The AC gain is controlled by C1, R5 and COMP trimmer. Maximum AC gain is obtained with COMP trimmer set fully CW. Setting COMP trimmer fully CCW removes AC gain and no lag in response occurs. R5 and C1 are mounted in solderless terminals and can be

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 Type Designation Technical specificationsOperation of the servo control Inputs Velocity mode Current mode Velocity control using armature voltage feedbackCurrent loop Current limitsTime dependent peak current limit Dynamic contouring of continuous and peak current limits Operation of the shunt regulator Loss of velocity feedback signal Temperature protectionProtective functions 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 GND Terminals for ISP mounted in 3U size ENCContact rating 0.5A, 200V, 10W Page MBA ISP/3UE Wiring Installation procedures MountingAC power supply Load inductance2Vdcmin Vdc 0.9Vdcmax ISP GND Wiring diagramsDo not ground GroundAC ISP ISP Control Connections Tachogenerator Feedback ISP Control Connections Armature Voltage Feedback Disable by Low Start Up ProceduresEnable by High ISP Control Board Converting the amplifier into current mode Selecting the reference signal gainSee .1 for calculation of other values For Vtm Activating the loss of tacho protection velocity mode onlyLatch 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 Adjustment of the IxR compensation Adjusting the motor speed velocity mode onlyResponse adjustment velocity mode only Typical velocity response waveforms ISP Rev 6/95 LED diagnostics Tables and Summaries Adjusting trimmersAppendix a Response adjustment current loop Fig. A-1 Typical current response waveforms ISP Rev 6/95 Velocity Torque Appendix B Current limits contour adjustmentDynamic 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 Europe List of Elmo Service Centers