Copley Controls Serial Encoder Guide de l'utilisateur Page 52
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
Xenus Plus User Guide Operational Theory
Copley Controls 52
2.12.6: Tracking Window Details
Proper Tracking Over Time
As described earlier, position error is the difference between the limited position output of the
trajectory generator and the actual position. Velocity error is the difference between commanded
and actual velocity.
When the position or velocity error exceeds the programmed tracking window value, a status word
bit is set. The bit is not reset until the error remains within the tracking window for the programmed
tracking time.
Velocity Tracking Illustration
The following diagram illustrates the use of tracking window and time settings in velocity mode.
± Tracking Window
Tracking
Time
Limited Velocity
Actual Velocity
Tracking Window
Output
- Xenus Plus 1
- User Guide 1
- Xenus Plus User Guide 2
- This page for notes 2
- Copley Controls 3 3
- Copley Controls 4 4
- ABOUT THIS MANUAL 5
- Original Instructions 6
- Related Documentation 7
- Comments 7
- Copyrights 7
- Document Validity 7
- Product Warnings 8
- Copley Controls 9 9
- CHAPTER 10
- Copley Controls 11 11
- 1.2: CME 2 12
- 1.3: CML/CMO 13
- 1.5: Indexer 2 13
- 1.6: CPL 13
- 2.1: Drive Internal Power 15
- Copley Controls 16 16
- 2.3: Commutation Modes 17
- 2.4: Feedback 17
- 2.5: Operating Modes 18
- Copley Controls 19 19
- Limiter 19
- Description 19
- Copley Controls 20 20
- Copley Controls 21 21
- Commanded Velocity 22
- Limited Velocity 22
- Vel Limit 22
- Accel Limit Decel Limit 22
- Copley Controls 24 24
- 2.6: Input Command Types 25
- Copley Controls 26 26
- 2.6.2: PWM Input 27
- Pulse Input 28
- Velocity 28
- Direction Input 28
- Up Input 29
- Command 29
- Down Input 29
- 2.7: Communication 30
- Copley Controls 31 31
- Copley Controls 32 32
- Addressing Method 32
- -1 -2 -3 33
- 2.8: Limit Switches 34
- 2.9: Brake Operation 35
- 2.10: Status Indicators 36
- Copley Controls 38 38
- Color/Blink Code 38
- Meaning 38
- STAT-Drive Status 40
- NET-MACRO Network Status 40
- XPL J6 STAT Indicator 42
- 1 second 43
- 2.11: Protection 47
- Copley Controls 48 48
- Fault Description 48
- Fault Occurs When… 48
- Fault is Corrected When… 48
- Copley Controls 49 49
- Copley Controls 50 50
- Copley Controls 51 51
- 2.13: Inputs XEL/XPL/XML 53
- 2.14.1: Digital Inputs 54
- 2.14.2: Analog Inputs 54
- 2.15: Outputs, XEL/XPL/XML 55
- Copley Controls 56 56
- 2.17: Regen Resistor Theory 57
- 3.1: Agency Approvals 59
- 3.2: Power Input 59
- 3.3: Power Output 60
- 3.4: Control Loops 61
- 3.5: Regen Circuit Output 61
- 3.6: Digital Command Input 61
- 3.7: Analog Inputs 62
- 3.8: Digital Inputs 63
- 3.9: Analog Outputs 64
- 3.10: Digital Outputs 64
- 3.12: Primary Encoder Inputs 65
- 3.13: Analog Encoder Inputs 66
- 3.14: Hall Switch Inputs 67
- 3.15: Resolver Interface 68
- 3.16: Multi-Mode Port 69
- 800-1782 70
- 3.17: Serial Interface 71
- 3.18: Network Interfaces 72
- 3.19: Status Indicators 73
- 3.20: Fault Levels 73
- 3.21: Power Dissipation 74
- 3.22: Thermal Impedance 74
- XEL/XPL/XML 75
- XE2/XP2/800-1782/800-1808 75
- 3.24: Dimensions 76
- Copley Controls 77 77
- 3.24.3: XML Dimensions 78
- Copley Controls 80 80
- Copley Controls 81 81
- 4.1.3: Connector Locations 82
- 1782/800-1808 83
- Copley Controls 84 84
- Copley Controls 85 85
- 4.3: Motor(s) 86
- 4.4.1: XEL/XPL/XML 87
- 4.5: Logic Supply / Brake 89
- Mating Connector 90
- 4.6: Safe Torque Off 91
- Copley Controls 92 92
- Copley Controls 94 94
- 1 2 3 4 5 6 95
- 4.8: Network Ports 96
- 4.8.2: CAN Bus (XPL/XP2) 97
- Copley Controls 98 98
- 4.9: Control I/O 99
- Copley Controls 101 101
- Analog Input Wiring Diagram 102
- Analog Output Wiring Diagram 102
- 4.10: Secondary I/O 103
- Copley Controls 104 104
- Copley Controls 105 105
- Mating Connections 106
- Pin Description 106
- 800-1782 Pin Description 111
- Copley Controls 112 112
- Copley Controls 113 113
- 4.11: Motor Feedback 115
- Pin Description 800-1782 117
- Hall Switch Wiring Diagram 119
- Copley Controls 120 120
- Resolver Wiring Diagram 121
- APPENDIX 124
- Capacity 127
- A.1.11: Select Fuses 128
- T Algorithm 130
- B.1.3: I 131
- T current limit 132
- Ambient Temperature ( 134
- 4.25 in 135
- Configurations 136
- 1782/800-1808) 138
- D.1: Overview 140
- D.3: Thermal Considerations 141
- Copley Controls 142 142
- Copley Controls 143 143
- D.5.2: Connector Locations 144
- D.5.3: Cable Notes 145
- Copley Controls 148 148
- F.1: Drive Model Numbers 150
- 800-1808 152
- F.2: Accessory Model Numbers 153
- F.3: Heatsink Kits 154
- F.5: Edge Filter 155
- F.6: Order Example 155
- F.7.1: Specifications 156
- F.7.2: Dimensions 156
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