Elmo HARmonica, HARSFEN0602 124, Speed mode Unit mode, 11.2.1The software speed command

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

11.2Speed mode: Unit mode 2

In this mode the amplifier controls the motor speed by feedback. The speed controller demands torque from the current controller.

The reference to the speed controller is summed from a software commands, and an auxiliary speed command. The auxiliary speed command is derived using the analog input, the auxiliary encoder input, and the ECAM table – details are given below.

The Stop digital input and the limit switches (RLS,FLS) can be used to stop or to limit the direction of the motor – see the paragraph on stop management below.

The amplifier will abort upon over-speed, as specified by the parameters LL[2] and HL[2]. The speed control scheme is depicted below:

124

Auxiliary speed

command

Software speed

command

Stop and limit

switches

Smoother

Enable if

RM==1

Stop

manager

Σ

Speed command (DV[2], cnt/sec)

- Σ

Speed

controller

Torquecommand

(DV[1], Amp)

Software speed

feedback

Figure 16: Unit mode 2 (Speed) structure

If you are not using the analog input for torque command, set RM=0, to avoid that noises and offset will affect the amplifiers speed command.

The DV[2] command reports the combined (software and analog input) speed demand.

11.2.1The software speed command

The software speed command generator generates speed commands, subject to acceleration, deceleration, and to speed limits. The following commands are relevant to the generation of the software speed command:

Command	Description
AC	Profiler acceleration limit. Units counts/sec2.
BG	Begin command
DC	Profiler deceleration limit. Units counts/sec2.
EM	EM[1]=1 use ECAM table, EM[1]=0 do not use
JV	Profiler final speed command. Units counts/sec.
PM	Set PM=0 to remove the acceleration limits from the software speed command.
	PM=0 is used by the Composer program in the process of tuning the speed
	controller, but in normal operation we advise not to program PM.