Axis 670 Manual de instrucciones descargar pdf (Pagina 12)

The command input offset adjustment potentiometer, Rl, confrols

a DC

input signal that is

added to the normal input signal. RIO confrols the contribution of this input. The following

equation can

used

determines the value of RIO for a desired Command Offset Range:

RIO = (((+Vr) -

(-Vr))

x R89 x (R29/R30)) / (Position Output Scale Factor x Command Offset

Range)

if Vr = 5V

R89 = lOKohms

R29 = lOKohms

R30 = 20Kohms

Position Output Scale Factor = 0.5V f mechanical

Command Offset Range =

0.25°

mechanical

tiien RIO = (lOV x lOKohms x (10K/20K)) / (0.5V/° mechanical x

0.25°

mechanical)

RIO = 400Kohms

The other type of Command Offset is brought in from an extemal source similar to the normal

input. This input can be used while simultaneously using the analog or digital input. The

resultant signal is the algebraic sum of

both.

The following equation is used to determine the

value of R85 in order to obtain the proper Command Offset Range:

R85 = ((+Offset In - -Offset In) x R89 x (R29/R30)) / (Position Output Scale Factor x Position

I Offset Range)

if Offset In = lOV

R89 = lOKohms i

R29 = lOKohms

R30 = 20Kohms

Position Output Scale Factor = 0.5 V/° mechanical

Command Offset Range =

0.25°

mechanical

tiien R85 = (20V x lOKohms x (10Ky20K))/(0.5V/*'mechanical x

0.25°

mechanical)

R85 = 800Kohms

**Note: For best drift characteristics, select a Command Offset Range that is fairly small

compared to the Input Range ofthe system.

**Note: The algebraic sum of all inputs must not exceed +/-20° mechanical or the system will

go into "fault"

mode.

This is described in detail in section 3.9.

3.6.7. Slew Rate Limiter

All ofthe Command Input signals, wiiether analog, digital, or offset, must pass through the "slew

rate limiter". The slew rate limiter is a circuit used for confrolling the system for large angle

moves. During these moves, large currents are drawn by the servo's output amplifier. If these

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