HARSFEN0602
List of Figures:
Figure 1 - Slope and window trigger types.............................................................................................................98
Figure 2 – Pre trigger delay.....................................................................................................................................99
Figure 3: Two phased linear motor.......................................................................................................................104
Figure 4: Three phased linear motor.....................................................................................................................104
Figure 5: Three phase rotary motor.......................................................................................................................104
Figure 6: Digital Hall sensors readout...................................................................................................................106
Figure 7: Loss of torque due to commutation miss...............................................................................................112
Figure 8: Winding shape function for a Trapeze motor.......................................................................................113
Figure 9: Winding shape function for sinusoidal motor........................................................................................114
Figure 10: Current controller structure..................................................................................................................115
Figure 11: Peak/Continuous current limit selection..............................................................................................117
Figure 12: Time constant selection (Small signal) for the torque input filter.......................................................119
Figure 13: Rate limiting for the torque input filter................................................................................................120
Figure 14: Current PI controller............................................................................................................................120
Figure 15: Unit mode 1 (Torque) structure...........................................................................................................123
Figure 16: Unit mode 2 (Speed) structure.............................................................................................................124
Figure 17 – Speed Profiling using JV, AC and DC.............................................................................................. 125
Figure 18 – Speed command for different smooth Factor.....................................................................................126
Figure 19: Auxiliary speed command generation.................................................................................................127
Figure 20: Speed mode Stop Manager..................................................................................................................127
Figure 21: Stepper mode (UM=3).........................................................................................................................129
Figure 22: Dual feedback mode (UM=4)..............................................................................................................130
Figure 23: Dual feedback mode (UM=5)..............................................................................................................131
Figure 24 – PTP Decisions Flow Chart.................................................................................................................137
Figure 25 – Jog Decisions Flow Chart..................................................................................................................138
Figure 26 – PVT Decisions Flow Chart................................................................................................................146
Figure 27 – PVT Auto Increment Mode Flow Chart............................................................................................149
Figure 28 – PT Decisions Flow Chart...................................................................................................................155
Figure 29 – PT Auto Increment Mode Flow Chart...............................................................................................157
Figure 30: External position reference generator..................................................................................................160
Figure 31: Print On A Moving Box Application...................................................................................................168
Figure 32: Stop Manager Block Manager.............................................................................................................169
Figure 33: Position output of the stop manager....................................................................................................171
Figure 34: Speed output of the Stop Manager.......................................................................................................171
Figure 35 – Switches location...............................................................................................................................178
Figure 36: Speed command and feedback limits.................................................................................................. 184
Figure 37: Position command and feedback limits...............................................................................................185
Figure 38: Brake output connection......................................................................................................................186
Figure 39: Normal Brake Activation Timing........................................................................................................187
Figure 40 – A Block Diagram of the Speed Controller.........................................................................................195
Figure 41 – Block Diagram of The Dual Loop Controller....................................................................................197
Figure 42: Idle loop...............................................................................................................................................215