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| 4 |
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| TABLE OF CONTENTS |
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1. | Description | 6 | |
2. | Type Designation | 7 | |
3. | Technical specifications | 7 | |
4. | Operation of the servo control | 8 | |
| 4.1 | Inputs | 8 |
| 4.2 | Velocity mode | 9 |
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| 4.2.1 Velocity control using armature voltage feedback | 10 |
| 4.3 | Current mode | 10 |
| 4.4 | Current loop | 11 |
| 4.5 | Current limits | 11 |
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| 4.5.1 Time dependent peak current limit | 11 |
4.5.2Dynamic contouring of continuous and peak current limits 12
| 4.6 | Operation of the shunt regulator | 13 | |
| 4.7 | Protective functions | 14 | |
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| 4.7.1 | Short circuit protection | 14 |
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| 4.7.2 | Under/over voltage protection | 14 |
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| 4.7.3 | Temperature protection | 14 |
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| 4.7.4 | Insufficient load inductance | 14 |
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| 4.7.5 Loss of velocity feedback signal | 14 | |
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| 4.7.6 Shunt regulator duty cycle | 14 | |
5. | Terminal Description | 17 | ||
| 5.1 | Terminals for Horizontal and Rack mounting versions | 17 | |
| 5.2 | Mother Board terminals | 20 | |
| 5.3 | Terminals for ISP mounted in 3U size ENC | 22 | |
6. | Installation procedures | 26 | ||
| 6.1 | Mounting | 26 | |
| 6.2 | Wiring | ................................ ....................... | 26 |
| 6.3 | Load inductance | 27 | |
| 6.4 | AC power supply | 27 | |
| 6.5 | Wiring diagrams | 28 | |
7. | Start - Up Procedures | 33 | ||
| 7.1 | Common procedures for all amplifiers types | 33 | |
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| 7.1.1 Inhibit and CW/CCW logic | 33 | |
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| 7.1.2 | Velocity mode | 36 |
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| 7.1.3 | Current mode | 36 |
ISP - Rev 6/95
