Elmo HARSFEN0602, HARmonica software manual 127, Stop management, Rls,Fls

HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

127

Analog input 1

`

(-10 to 10 Volts)

-

AS[1]Σ

AG[2]

Count/sec/

Volt

Auxiliary speed command

Σ

Auxiliary input

Speed

FR[2]

estimator

Figure 19: Auxiliary speed command generation

The analog input is most useful when the Harmonica serves as an inner controller, embedded in an external control loop.

The auxiliary encoder speed input enables to issue speed commands relative to a conveyor or other moving object.

11.2.3 Stop management

The stop manager does the following functions:

-Bring the motor to stop upon software or hardware ST command.

-Bring the motor to stop when the speed demand is positive and FLS (Forward Limit Switch) is active.

-Bring the motor to stop when the speed demand is negative and RLS (Reverse Limit Switch) is active.

-Prevent acceleration or deceleration beyond the motor torque limits.

The parameters relevant to the stop manager are:

Command	Description
SD	Maximum motor acceleration/deceleration, counts/sec2
LV[2],HV[2]	Speed command limit
IL[]	Input logic – define digital inputs as hard-stop, or as directional limit switches
	(RLS,FLS).

A block diagram of the stop manager is given below.

Stop condition (Stop, RLS, FLS)

-

Reference generator

output (software +

auxiliary)

SD

Acceleration/Deceleration

Limiter

LV[2],HV[2] speed limiter

0

Command to

Speed Controller

Figure 20: Speed mode Stop Manager

The Stop-Manager prevents the speed-controller command from changing abruptly by