User manual

User manual
Project/product code:
FM581
Description:
Digital controlled DC-Motors amplifier
Document type:
User Manual
Reference versions:
Hardware
FM581
100V 8A
FRANCESCHI MARINA S.n.c.
200V 5A
ELETTRONICA INDUSTRIALE
Via Verga, 5 int.6
20842 Besana in B.za (MB), Italy
Tel.0362-802070 - Fax. 0362-802648
e-mail: [email protected] – web: www.franconline.com
FM581 Digital controlled DC-Motors amplifier
Arosio Lorenzo
User Manual
FRANCESCHI MARINA S.N.C.
12/10/11
2
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Indice generale
FM581.............................................................................................................................................1
Digital controlled DC-Motors amplifier ......................................................................................1
User Manual...............................................................................................................................1
Technical specifications.........................................................................................................4
Dimensions............................................................................................................................5
Connections...........................................................................................................................6
Digital inputs...........................................................................................................................7
LED and digital outputs..........................................................................................................8
Analog inputs.........................................................................................................................9
Jumpers description.............................................................................................................10
Modality of operation ...........................................................................................................11
Alarms..................................................................................................................................14
ModBus protocol..................................................................................................................15
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
3
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Technical specifications
Interfaces
Power supply
Output
FM581 size =>
Nominal current
Maximum current
Peak current
Protection
Switching frequency
PWM frequency
Supply voltage
(maximum)
Supply voltage (minimum)
•
•
•
•
•
200V 5A
8
20
28
Supply overvoltage
Supply undervoltage
Shortcircuit
Shortcircuit to ground
Power stage overheating
KHz
KHz
195
Vdc
20
40
Vdc
Communication protocol
ModBus, RTU mode
Supported functions: 03h, 04h, 06h, 10h
Slave address default: 1
(www.modbus.org)
Digital input
● Disable counter-clockwise rotation
● Disable clockwise rotation
● General inhibit
● Curren limit / alarm (together)
● Drive inhibit / alarm (together)
● +/-10V, main speed or current reference
● Tachometer input, with automatic offset and scale (max. 29V)
● 0-10V, nominal current limitation (abs[+/-10V] )
Control loop mode
Current or Current+Speed by main input reference, with variable current
limit by an auxiliary reference
Controller type
Current loop controller: PI
Speed loop controller: PID
Feedback mode
For speed loop Back-EMF without external connection or with DCtachometer.
Offset compesation and
filtering
Automatic calibration of internal current and voltage offsets.
Analog input low-pass filtered with configurable filter with the possibility to
correct manually the offset.
Working temperature
Humidity (no condense)
Protection class
Dimensions
from 0.1 to 30
s
from -10 to +50
°C
from 5 to 95
%
IP00
100(h) x 65(l) x 39(p)
mm
~0,2
Kg
Weight
Arosio Lorenzo
A
A
A
100
Acceleration/Deceleration
Ramps
Environment
16
32
Serial port RS232
19200Kbps,8E1
Analog input
Weight Dimensions
5
10
14
Control and configuration
interface
Digital output
(open-drain, 24V 100mA)
Control Loop features
100V 8A
FRANCESCHI MARINA S.N.C.
4
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Dimensions
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
5
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Connections
Connections list
Connector
Description
1 SpeedRef –
2 SpeedRef +
3 Tacho –
4 Tacho +
5 Ref –
6 Ref +
7 Non connected
8 Input1
9 Input2
J1
10 Input3
11 0V
12 Output1
(open-drain, 24V 100mA)
13 -12V
14 +12V
15 Input4
16 Output2
J2
(RS232)
M1
(Power)
Arosio Lorenzo
1
2
3
4
1
2
3
4
(open-drain, 24V 100mA)
Tx Data
Rx Data
GND
GND
+V Supply
M1
M2
GND
Analog input, speed/current main reference (+/-10V)
Tachometer input (max. 29V)
Analog input, current limit (+/-10V)
Clockwise rotation disable
Counter-clockwise rotation disable
Drive inhibit
Common 0V reference for the inputs
Digital output: drive inhibit / alarm
Negative reference voltage for the analog inputs
Positive reference voltage for the analog inputs
Not used
Digital output: current limit / alarm
Communication port RS232: 19200,8E1
Protocol ModBus, RTU mode
Slave address default: 1
Main power supply, Positive (max 100V or 200V by size)
DC-Motor connection
Main power supply, Ground
FRANCESCHI MARINA S.N.C.
6
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Digital inputs
Four digital inputs are available, three with and assigned function and the fourth not used.
Input
Description
Disable CW
Disable clockwise rotation, this command leaves the motor inactive, free, without
ramps or braking.
Disable CCW
Disable counter-clockwise rotation, this command leaves the motor inactive, free,
without ramps or braking.
Drive inhibit
This is a general inhibit signal that disable the drive. The way to stop the motor is
defined from the configuration options: freee-wheel, ramp, braking...
The configuration allows to setup the active logic state of the inputs. Input activation can be set to activelow (PNP mode) or active-high (NPN mode).
The jumper JP3 defines the input level in floating condition, by insertion of a pull-up or a pull-down
resistor.
JP3 on pin 1-2:
NPN mode input, setup to activate with signals that close to 0V.
JP3 on pin 2-3 (default):
PNP mode input, setup to activate with signals that close to
+12V.
For a correct operation the active level and the position of JP3 must be coherent with the way the
commands operate.
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
7
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
LED and digital outputs
The drive has 3 LED and 2 open-drain ouputs to signal its state. The open-drain outputs are designed for a
maximum load of 100mA, 24V.
LED meaning:
The green LED, LD3, indicates that the power supply is connected and turned on.
LD3
(green)
Drive disabled: motor is disabled, drive is waiting for enable command.
LD2
(red)
LD1
(yellow)
LD3
(green)
Drive enabled: motor is enabled, drive is executing motion commands.
LD2
(red)
LD1
(yellow)
LD3
(green)
Drive in current limit condition: motor is still enabled, drive is trying to execute a command but the current is over
the nominal value configured.
LD2
(red)
LD1
(yellow)
LD3
(green)
LD2
(red)
Drive alarm: motor is disabled because of a continued alarm condition. The drive will refuse any enabling request
while the alarm is still present.
The exact cause of the alarm can be verified using the ModBus.
LD1
(yellow)
Outputs meaning:
Output Description
OUT1
Active, close to 0V, when LD1 is on: drive inhibit.
OUT2
Active, close to 0V, when LD2 is on: current limit condition.
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
Together, when LD1 and LD2
are both on: alarm condition.
8
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Analog inputs
Reference input (current or speed):
From this input the drive receives the main reference setpoint
for speed or current.
The input signal must be between -10V and +10V. To operate
with a single-ended signal place to 0V one of the poles.
The drive configuration, from ModBus, allows to correct the
offset and apply a low-pass filter to this input.
Variable current limit input:
It's possible to apply a variable current limit during the operation
in speed mode. In such a situation the main reference supplies
the setpoint of speed, while this auxiliary input allows to scale
the limit of current regarding to the nominal value.
The control loop will accelerate the motor until the demanded
speed, but always with a current under the value defined
instantaneously.
The limited current could not be sufficient, in this case the drive
maintains active the motor at the maximum allowed speed.
The input signal must be between -10V and +10V. To operate with a single-ended signal place to 0V one
of the poles.
The drive configuration, from ModBus, allows to correct the offset of this input.
Attention: the drive uses the absolute value of the input signal to scale the nominal current value:
✗
+10V is the same of 100% of the nominal current, but also -10V.
✗
0V is the same of 0% of the nominal current.
Tachometer input:
In speed mode, the feedback can be gained directly from the
Back-EMF, or from a tachometer connected exactly to this input.
The tachometer supply a DC voltage proportional to the speed of
the shaft, in order to obtain a greater precision than the BackEMF feedback.
The input signal must be between -29V and +29V.
The drive configuration, from ModBus, requires to indicate the
voltage/speed coefficient (V/Krpm). The drive executes an
automatic scaling of the input signal, based on V/Krpm and the
nominal parameters, to optimize the resolution of reading.
Attention: if the tachometer output exceeds the range +/-29V, it's necessary to add, in series to both input
terminals, a resistance of opportune value. The maximum voltage supplied from the tachometer is given
by:
Vtachomax =VKrpmtacho∗Krpmmax
Note that practically the maximum speed could be over the nominal value, situation in which it is
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
9
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
however necessary to respect the voltage range. The next expression gives the value of the resistance:
Rs=
[  VKrpmtacho∗Krpmmax −29,4 ]

29,4
100000

The value of Rs is a parameter of the drive configuration.
Jumpers description
Jumper #
JP1
JP1 + JP2
JP2
ON
OFF
Test (reserved!)
Normal operation
Test potenza (reserved!)
Reset setup to default
JP3 1-2
Input Pull-Up, NPN mode
JP3 2-3
Input Pull-Down, PNP mode
Attention: function marked as 'Test' are reserved to the factory test procedure, the improper use can
seriously damage the drive and/or the motor and cause danger for the operator.
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
10
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Modality of operation
The drive controls everytime the current into the motor, realizing a current-loop control. When only this
type of control is active, we say that it works in 'current mode'.
In addition to the current control, the drive can realize a speed-loop control. The feedback can be gained
directly from the Back-EMF, or from a tachometer. We call this way of operation 'speed mode'.
Into the current loop we have a PI (proportional-integral) regulator, into the speed loop a PID
(proportional-integral-derivative) regulator. In order to obtain the optimal operation of the system, it's
necessary to proceed to the calibration of the regulators.
Current mode:
In current mode the drive behaves as a variable current generator. The current that circulates in the motor
is proporzional to the reference input signal: a input of 10V corresponds to the nominal current.
The involved options are (make reference to the ModBus datamodel table for details):
Option
Description
Default value
Alternative values
REF
Reference source
Main analog input
RS232 / ModBus
INP
Commands input source
Hardware digital inputs
RS232 / ModBus
LEV
Commands active level
High
Low
ICS
Auxiliary current limit input
Disabled
Enabled
RMP
Current ramps
Disabled
Enabled, configurable duration
Analog input Low-pass filter
Cut at 1KHz
Cut at 1KHz, 500Hz, 200Hz or disabled
FA0 – FA1
The involved parameters are (make reference to the ModBus datamodel table for details):
Name
Reg. #
Unit
Ur
1
V /10
Ic
2
A /10
Ip
3
A /10
Accel
6
s /10
Decel
7
s /10
iPgain
17
Q15
iPgainScale
18
n
iIgain
19
Q15
iIgainScale
20
n
RefDig
21
Q15
VirtualInput
22
bit
Attention: the drive comes with a default calibration of the PI regulator, be careful in modifing this
values a little for time. An error could cause dangerous instability.
Attention: it's available a software instrument, running on personal computer with RS232 connection, to
make easy access to all options and parameters. It contains also some useful functions of validation.
Speed mode:
In speed mode the drive try to accelerate/decelerate the motor to a speed proportional to the speed
setpoint. An analog input setpoint of 10V correspond to the nominal speed.
Under the speed regulation the current control is however active: the drive goes in current limit when the
torque remains insufficient to reach the setpoint. The limitation of the current has in first place the scope
to protect the motor and the drive from the excessive heating, but also to limit the torque developed in
acceleration and deceleration.
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
11
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
The involved options are (make reference to the ModBus datamodel table for details):
Option
Description
Default value
Alternative values
REF
Reference source
Main analog input
RS232 / ModBus
INP
Commands input source
Hardware digital inputs
RS232 / ModBus
LEV
Commands active level
High
Low
ICS
Auxiliary current limit input
Disabled
Enabled
TCF
Feedback type
Back-EMF
Tachometer
RMP
Speed ramps
Disabled
Enabled, configurable duration
FRR
Braking mode
No brake / free-wheel
Ramp or current limit braking
Analog input Low-pass filter
Cut at 1KHz
Cut at 1KHz, 500Hz, 200Hz or disabled
Tachometer alarm
Disabled
Enabled: open-circuit, short-circuit or reverse
connection.
FA0 – FA1
TKO
The involved parameters are (make reference to the ModBus datamodel table for details):
Reg. #
Unit
Ur
Name
1
V /10
Ic
2
A /10
Ip
3
A /10
SpeedRPM
4
rpm
RxI
5
Ω x100
Accel
6
s /10
Decel
7
s /10
VKrpm
8
(V/Krpm) /10
Rin
9
Ω x100
sPgain
11
Q15
sPgainScale
12
n
sIgain
13
Q15
sIgainScale
14
n
sDgain
15
Q15
sDgainScale
16
n
iPgain
17
Q15
iPgainScale
18
n
iIgain
19
Q15
iIgainScale
20
n
RefDig
21
Q15
VirtualInput
22
bit
Attention: the drive comes with a default calibration of the PID regulator, be careful in modifing this
values a little for time. An error could cause dangerous instability.
Attention: it's available a software instrument, running on personal computer with RS232 connection, to
make easy access to all options and parameters. It contains also some useful functions of validation.
RxI compensation
The RxI compensation concurs to correct the voltage fall on the series resistance of the motor, with
improved performances using Back-EMF feddback. The series resistance of the motor makes that the
voltage applied to the motor is lower. If the resistance is known, this effect is easy to compensate:
u mot =uref mot RxI ∗I mot 
where:
umot
= voltage to the motor
urefmot = reference voltage to the motor
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
12
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
RxI = RxI parameter value
Imot
= current to the motor
If “RxI” is 0 this function is disabled.
Attention: the RxI compensation could cause the control to be unstable, be careful in modifing this value
a little for time and test the calibration in every load condition.
I2t protection
In speed mode, the supplied current can be greater of the nominal value of the motor, the maximum value
is fixed from the maximum current parameter. In order to avoid that the motor is overheated because of
the greater current, the drive gradually reduces the current until the nomial value: I2t protection.
The current limitation respects the following rule:
2
 I p−I c  ∗t
where:
Ip = maximum current
Ic = nominal current
t = maximum time at maximum current (2s)
The drive applies the maximum current for the maximum
time of 2 seconds. If the current is lower than the
maximum, the time admitted for the overload increases.
The current is limited gradually until it reaches the
nominal value, supplied for a limitless time.
Setting up the same value as nominal and maximum current, I2t protection is disabled.
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
13
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Alarms
In alarm case the drive is disabled and it marks the condition with all the LED turned on. Through the
ModBus connection, with the configuration software, it's possible to know in the details the alarm cause.
In order to restore the operating condition, first you must remove the alarm cause and therefore to turn-off
and turn-on the drive.
Alarm
Cause
Supply voltage too high.
Overvoltage
Undervoltage
Overcurrent
Solution
Use a lower voltage source.
Increase the capacitor value on the
The voltage grows bacause of the power supply line.
braking action.
Use a power supply with “braking
function”.
Supply voltage too low.
Use an higher voltage source.
Power supply capability too low.
Use a 'stronger' power source.
The acceleration requires a big peak
Increase the capacitor value on the
of current that discharge the dc-bus
power supply line.
capacitors.
Use a smaller motor or a bigger drive.
Your motor is a load too big for this (if the inductace of the motor is very
drive.
low, sometimes it's necessary to add an
inductor in series to it).
Machanical load too high.
Reduce the load.
Acceleration/Deceleration ramps too
Increase the duration of the ramp.
short.
Power stage overheating
The drive is too small.
Use a bigger drive.
Inadequate thermal dissipation.
Verify the coupling of the heatsink,
verify if you need a bigger heatsink.
Load too high.
Reduce the load.
The acceleration requires a big peak
of current that discharge the dc-bus Increase the duration of the ramp.
capacitors.
Power stage shortcircuit
Tachometer anomaly
Cable shortcircuit
Replace the cable
Motor shortcircuit
Replace the motor
Damaged drive
Replace the drive
Only with tachometer feedback and
tachometer alarm enabled.
Possible causes: tacho disconnected,
tachometer (or cable) shortcircuit,
reverse connection.
Verify
cable.
tachometer
connection
and
Verify the drive configuration.
Verify that the tachometer is damaged.
Attention: when this alarm occurs, the drive switch to Back-EMF feedback
mode and disables itself as programmed by configuration (free-wheel, ramp or
braking).
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
14
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
ModBus protocol
The RS232 port allows to configure the drive and to control it from remote.
The serial communication is based on a reduced implementation of the standard ModBus protocol in RTU
mode (www.modbus.org).
Only a subset of function is supported:
1. the Rx/Tx buffer is only 50bytes deep, this limits the number of registers for a single transaction,
not more than 10.
2. only the following standard functions are supported:
Codice
Funzione
03h
04h
06h
10h
Nome
Funzione
Read Holding Registers
Read Input Registers
Write Single Register
Write Multiple Register
3. and this user-defined function:
Cod.Funzione Nome
Request to send a special identification record that contains infor41h
mation about hardware and firmware versions.
The communication port setup is:
Baudrate
Byte
Parity
Stop
19200bps
8bit
Even
1bit
Attention: it's available a software instrument, running on personal computer with RS232 connection, to
make easy access to all options and parameters. It contains also some useful functions of validation.
Tabella dei parametri:
Name
Reg. #
Unit
Ur
1
V /10
Motor nominal voltage.
Ic
2
A /10
Motor nominal current. Equal or smaller than the drive nominal
current (8A or 5A).
Ip
3
A /10
Maximun current allowed to the motor. Equal or smaller than the
drive maximum current (20A or 10A).
SpeedRPM
4
rpm
Nominal speed,. Used when tachometer feedback is enabled, an
analog setpoint of 10V correspond to this speed value.
RxI
5
Ω x100
RxI compensation resistance. Used if Back-EMF feedback is
selected. Set 0 to exclude RxI compensation function.
Accel
6
s /10
Acceleration time, used only if ramps are enabled.
Decel
7
s /10
Deceleration time, used only if ramps are enabled.
VKrpm
8
(V/Krpm) /10
Speed to voltage coefficient for the tachometer (V/Krpm). This is
the nominal transfer gain of the tacho (if you add any resistence
indicate the value in reg.#9).
Rin
9
Ω x100
Value of the resistence added (if necessary) to the inputs
terminals of the tachomenter.
ConfigFlags
10
bit-field
Option flags: see the specific paragraph that follows.
sPgain
11
Q15
sPgainScale
12
n
Arosio Lorenzo
Description
Speed-loop Proportional gain (mantissa, from 0 to +1).
Speed-loop Proportional gain scale factor (base 2 exponent, from
-8 to +8).
FRANCESCHI MARINA S.N.C.
15
FM581 Digital controlled DC-Motors amplifier
Name
User Manual
12/10/11
Reg. #
Unit
sIgain
13
Q15
sIgainScale
14
n
sDgain
15
Q15
sDgainScale
16
n
iPgain
17
Q15
iPgainScale
18
n
iIgain
19
Q15
iIgainScale
20
n
Current-loop Integral gain scale factor (base 2 exponent, from -8
to +8).
Q15
Current or Speed setpoint in 16bit fractional notation.
Used when the selected reference source is from ModBus.
Values from -1 to +1: 0,75 (24674) is the same of an analog input
of 10V.
RefDig
21
Description
Speed-loop Integral gain (mantissa, from 0 to +1).
Speed-loop Integral gain scale factor (base 2 exponent, from -8 to
+8).
Speed-loop Derivative gain (mantissa, from 0 to +1).
Speed-loop Derivative gain scale factor (base 2 exponent, from -8
to +8).
Current-loop Proportional gain (mantissa, from 0 to +1).
Current-loop Proportional gain scale factor (base 2 exponent,
from -8 to +8).
Current-loop Integral gain (mantissa, from 0 to +1).
VirtualInput
22
bit-field
Command inputs, used when the selected commands source is
from ModBus. Bit meaning:
bit0: disable counter-clockwise rotation
bit1: disable clockwise rotation
bit2: drive inhibit
ScaleAnRef
29
Q15
This parameter allows to scale main analog input (speed/current
reference) by a gain factor from -1 to +1.
OffsetAnRef
30
Q15
This parameter allows to calibrate to zero the offset of the main
analog input (speed/current reference).
OffsetAnLim
31
Q15
This parameter allows to calibrate to zero the offset of the
auxiliary analog input (variable current limit).
The described parameters reside in the RAM of the drive, a modification can be cancelled simply by turn
off the drive. Disable the drive before to modify the setup, the configuration will have effect at the next
enable command.
To save permanently the value of a parameter you must copy that value to the register with address
reg.#EEPROM= 100 + reg.#RAM.
Example: to save 2000 to the parameter SpeedRPM (reg.# RAM4) I will send 2000 to the register
reg.#EPPROM= 100 + 4 = 104.
The next table shows a list of readonly parameters, useful during the calibration:
Name
Reg. #
Unit
HWLimitV
200
V /10
Absolute maximum allowed voltage.
u_dc_busV
205
V /10
Actual DC-Bus voltage (power supply voltage)
a_MotorV
207
V /10
Back-EMF voltage
i_motorA
208
A /10
Current in the motor
prevFault
Arosio Lorenzo
209
bit-field
Description
Previous alarm flags (when bit is 1):
b0=Overvoltage
b1=Overcurrent
b2=Undervoltage
b3=Overheating
b4=Shortcircuit
b5=Tachometer anomaly
FRANCESCHI MARINA S.N.C.
16
FM581 Digital controlled DC-Motors amplifier
Name
Reg. #
appFault
User Manual
12/10/11
Unit
211
Description
Present alarm flags (when bit is set to 1):
b0=Overvoltage
b1=Overcurrent
b2=Undervoltage
b3=Overheating
b4=Shortcircuit
b5=Tachometer anomaly
bit-field
About Q15 fractional rapresentation
Parameters defined as Q15 are fixed-point fractional values with 15 bits after the decimal point, that
rapresent numbers from -1,0 to +1,0. In order to convert a number from decimal notation to the integer
value for the Q15 variable you have to multiply by 215=32768:
Q15=
dec
32768
dec=Q15∗32768
There are many Q15 parameters that require only positive values, like PI and PID gains.
Configuration flags:
The parameter “ConfigFlags” (reg.#10) contains an array of flags defining the options of the drive. It
follows a detailed description of every flag:
ConfigFlags [default 0000h]
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
X
X
X
X
FA1
FA0
MOC
TKO
NAC
FRR
RMP
TCF
ICS
LEV
INP
REF
Option
Description
REF
The speed reference can be supplied through the main analog input, connected to J1 pin 1 and 2, or
from serial port with ModBus using register “RegDig”.
0 => reference from analog input
1 => reference from ModBus
INP
The commands inputs can be supplied from the hardware inputs, connected to J1, or from serial port
with ModBus using register “VirtualInput”.
0 => hardware inputs
1 => commands from ModBus
LEV
By default the input are configured as active-high, this option allows to change the active level:
0 => active-high inputs
1 => active-low inputs
Attention to the position of JP3 for the insertion of pull-up or pull-down on the input.
ICS
By default the nominal and peak motor currents are defined by registers “Ic” (reg.#2) and “Ip” (reg.#3).
This option enables the auxiliary analog input, connected to J1 pin 5 and 6, in order to introduce a
variable current limit. In such a case the drive ignores the peak current “Ip” because the motor current
will be always limited to a fraction of “Ic” (nominal current), scaled through the analog input where +/10V=100% and 0V=0%.
0 => “Ic” + “Ip” without variable current limit
1 => “Ic” + with variable current limit
TCF
In speed mode it's possible to select the Back-EMF feedback or the tachometer feedback (connected
to J1 pin 3 and 4).
0 => Back-EMF feedback
1 => tachometer feedback
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
17
FM581 Digital controlled DC-Motors amplifier
User Manual
12/10/11
Option
Description
RMP
Speed mode control and current mode control follow istantaneously every variation of the setpoint. This
option introduce the insertion of increment and decrement ramps between the setpoint and the
reference of the control loop. In current mode ramps are of current, in speed mode are of speed; in
booth cases the registers “Accel” and “Decel” contains the duration time of the ramp, starting from 0 up
to 100% (viceversa for deceleration).
0 => ramps disabled
1 => ramps enabled
FRR
At the general inhibit signal the drive can stop the motor in several ways, selected from this option and
the RMP.
0 => no brake, free-wheel stop
1 => ramp (RMP enabled) or braking with current limit for a maximum of 2 seconds of time
(RMP disabled).
NAC
At the startup, the drive executes a procedure of automatic calibration of the analog inputs of current
and voltage of the motor. If this happens while the shaft is completely stopped there is no problem, but
if the there is the possibility that the shaft is moving, it's necessary to disable the auto-calibration,
exactly with this option.
0 => analog input auto-calibration enabled
1 => analog input auto-calibration disabled
TKO
In speed mode with tachometer feedback, this option enables and disabled the alarm for a tacho
anomaly. Tachometer alarm identifies the following cases: tacho disconnected, tachometer (or cable)
shortcircuit, reverse connection.
0 => alarm disabled
1 => alarm enabled
MOC
Select the modality of operation, current or speed:
0 => speed mode
1 => current mode
FA1 FA0
Frequenza di
taglio
0
0
1KHz
0
1
500Hz
1
0
200Hz
1
1
disabled
This two bits select the cut frequency of the filter applied to the main analog input, or
disable the filter.
______
Arosio Lorenzo
FRANCESCHI MARINA S.N.C.
18
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement