ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 209)

Σ
Analog input
AS[1]
-
AG[1]
Σ
PWM input
(if YA[4]=5 or YA[4]=6)
FR
Enable logic
Digital inputs
Torque
command
Figure 3-1: Unit Mode 1 (Torque) Structure
The AS[1] parameter compensates for possible offsets in the driving equipment, and
internally in the
SimplIQ drive. If you do not use the analog input for the torque
command, set AG[1] = 0 or RM = 0 in order to avoid the noise and offset that affect the
drive torque command.
The combined (software and analog input) current demand is reported by DV[1].
The enable logic does the following:
If hard stop is active, sets the torque command to zero
If RLS is active, clips negative torque commands to zero
If FLS is active, clips positive torque commands to zero.
The Stop Manager does not affect the reference generator. When the relevant switch is
released, the torque command value set by the reference generator is restored.
The external reference to the current loop is implemented directly in the motion
processor, thus is free from any inter-processor communication delay.
3.3. Unit Mode 2: Speed Control
In this mode, the drive controls the motor by speed feedback.
The reference generator issues a speed command and the speed controller uses the speed
command to demand torque from the current controller.
The reference to the speed controller is a sum of software commands and an auxiliary
speed command that is derived using the analog input, the auxiliary encoder input or
PWM.
The Stop digital input and the limit switches (RLS, FLS) can be used to stop or to limit the
direction of the motor (described in
section 3.3.2 ). The drive will abort upon over-speed,
as specified by the parameters LL[2] and HL[2]. The speed control scheme is shown in
the figure below:
SimplIQ for Steppers Application Note Unit Modes
MAN-STECR (Ver. 1.1)
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