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Parameters
| Half of the reference range expressed in internal units, divided by 2SFTADIN. The division result should lead to a value less than 32767. Depending on control mode selected, the reference range can be a: |
| The smallest power of 2 for which: |
(Half of the reference range in internal units) / 2STFADIN < 32767
| Reference value expressed in internal units, corresponding to the lower limit of the analogue input. Depending on control mode selected, the reference value can be a: |
| Cutoff frequency for the low-pass filter on analogue input, computed with: |
FILTER1 = 32767 * (1 - exp(-fc*T)),
| where | fc is the cutoff frequency in radians/s |
T is the slow loop sampling period in seconds.
Remark: For the external torque mode with analogue input read in fast loop, T is the fast loop sampling period in seconds.
| Dead-band point in internal units computed with: |
LEVEL_AD5=(DB_Point–InputLow)*65472/InputRange
| where | DB_Point – is the dead band point expressed in V |
InputLowLimit – is the low limit of the drive/motor analogue input expressed in V
InputRange – s the drive/motor analogue input range expressed in V.
| Dead-band range in internal units computed with formula: |
E_LEVEL_AD5 = DB_Range * 65472 / InputRange,
| where | DB_Range – is the desired dead-band range expressed in V |
InputRange – is the drive/motor analogue input range expressed in V.
| UPGRADE | TML register. When UPGRADE.2=1, a speed limitation may be set in position external mode and an acceleration limitation in speed external mode. When UPGRADE.2=0, speed or acceleration limitation is disabled |
Maximum speed in position external when UPGRADE.2=1
Maximum acceleration in speed external when UPGRADE.2=1
Variables
| 16-bit unsigned integer value representing the value read from the analogue input. The output of the 10-bit A/D converter is set in the 10 MSB (most significant bits) of the AD5 |
| TML variable where an external device writes the position reference in external mode on-line. Measured in position units |
| TML variable where an external device writes the speed reference in external mode on-line. Measured in speed units |
| TML variable where an external device writes the torque reference in external mode on-line. Measured in current units |
| TML variable where an external device writes the voltage reference in external mode on-line. Measured in voltage command units |
| Target load position – position reference computed by the reference generator at each slow loop sampling period, when position external mode is performed. TPOS is set function of the analogue input value, with analogue reference or with the EREFP value with online reference. Measured in position units |
| Target load speed – speed reference computed by the reference generator at each slow loop sampling period, when position or speed external mode is performed. In speed control, TSPD is set function of the analogue input value, with analogue reference or with the EREFS value with online reference. Measured in speed units In position control, TSPD is computed as the position variation over a slow loop sampling period. Measured in speed units |
| Target load acceleration – acceleration/deceleration reference computed by the reference generator at each slow loop sampling period, when position or speed external mode is performed. Measured in acceleration units |
| Current reference – updated at each fast or slow loop function of the analogue input value or set with EREFT value, when torque external mode is performed. Measured in current units |
| Voltage reference – updated at each fast or slow loop function of the analogue input value or set with EREFV value, when voltage external mode is performed. Measured in voltage command units |
Actual load position. Measured in position units. Alternate name:
Actual load speed – measured in speed units
Actual motor position. Measured in motor position units.
Instructions
MODE PE Set position external mode
MODE GS Set position external mode with digital referenceMODE SE Set speed external mode
MODE TES Set torque external mode with reference read in slow loop
MODE TEF Set torque external mode with reference read in fast loop
MODE VES Set voltage external mode with reference read in slow loop
| EXTREF 0 | Set external reference type on-line |
| EXTREF 1 | Set external reference type analogue |
| EXTREF 2 | Set external reference type digital |
UPD Update motion parameters and start new motion mode
STOP Stop motion
Remarks:
| • | In the absence of an external device, EREFP, EREFS, EREFT, EREFV may also be used as TML parameters through which you can set a position, speed, torque or voltage reference in the external mode online. This is a simple way to impose step references |
| • | The TML variables EREFP, EREFS, EREFT, EREFV are alternate ways to address the TML variable EREF in which the external devices must place the reference. The new mnemonics have been added to clearly differentiate how EREF is interpreted function of control mode selected: |
| o | Position control: EREFP = EREF. EREFP is a 32-bit long integer |
| o | Speed control: EREFS=EREF. EREF is a 32-bit fixed |
| o | Torque control: EREFT = EREF(H). EREFT is a 16-bit integer |
| o | Voltage control: EREFV = EREF(H). EREFV is a 16-bit integer |
| • | CSPD and CACC must be positive |
| • | The sum between CSPD and CACC values must be maximum 32767.99998 (0x7FFF.FFFF) i.e. the maximum value for fixed number |
| • | In setup configurations where there is no transmission ratio between the motor and the load, it is supposed that these are directly connected. In these cases: APOS_MT=APOS_LD and ASPD_MT=ASPD_LD |
Programming Example 1
// External mode. Read position reference from the analogue input
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
MODE PE; //External position
CSPD = 100;// Limit = 3000[rpm]
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
UPD; //execute immediate
Programming Example 2
// External mode online. Read speed reference from variable EREFS
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
EREFS = 33.3333;// EREFS initial = 1000[rpm]
EXTREF 0;
MODE SE; //External speed
CACC = 0.3183;// Limit = 1000[rad/s^2]
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
UPD; //execute immediate
See also:
External – TML Programming Details
TML Description
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