Schematic

8 Advanced Digital Motor Controllers User Manual V1.8, August 28, 2017
Closed Loop Speed Mode ..................................................................... 121
Closed Loop Speed Position Control ..................................................... 121
Motor Sensors ....................................................................................... 122
Tachometer or Encoder Mounting ......................................................... 122
Tachometer wiring ................................................................................. 122
Brushless Hall Sensors as Speed Sensors ............................................ 123
Speed Sensor and Motor Polarity .......................................................... 123
Controlling Speed in Closed Loop .......................................................... 124
PID Description ...................................................................................... 125
PID tuning in Closed Loop Speed Mode ................................................ 126
PID Tuning in Speed Position Mode ....................................................... 127
Error Detection and Protection .............................................................. 128
SECTION 11
Closed Loop Relative and Tracking Position Modes ............................................ 129
Modes Description ................................................................................ 129
Position Relative Mode .......................................................................... 129
Position Tracking Mode .......................................................................... 129
Selecting the Position Modes ................................................................ 130
Position Feedback Sensor Selection ...................................................... 130
Sensor Mounting ................................................................................... 130
Feedback Sensor Range Setting ............................................................ 131
Adding Safety Limit Switches ................................................................ 132
Using Current Trigger as Protection ....................................................... 133
Operating in Closed Loop Relative Position Mode ................................. 133
Operating in Closed Loop Tracking Mode ............................................... 135
Position Mode Relative Control Loop Description.................................. 135
PID tuning in Position Mode .................................................................. 136
PID Tuning Differences between Position Relative and Position Tracking 137
Loop Error Detection and Protection .................................................... 138
SECTION 12
Closed Loop Count Position Mode ...................................................................... 139
Mode description ................................................................................... 139
Sensor Types and Mounting ................................................................... 140
Encoder Home reference ....................................................................... 140
Preparing and Switching to Closed Loop ............................................... 140
Count Position Commands .................................................................... 141
Position Command Chaining .................................................................. 141
Position Accuracy Considerations .......................................................... 142
PID Tunings ............................................................................................ 143
Loop Error Detection and Protection ..................................................... 143
SECTION 13
Closed Loop Torque Mode .................................................................................... 145
Torque Mode Description ..................................................................... 145
Torque Mode Selection, Configuration and Operation ........................... 146
Torque Mode Tuning ............................................................................... 146
Configuring the Loop Error Detection .................................................... 146
Torque Mode Limitations ....................................................................... 146
Torque Mode Using an External Amps Sensor ...................................... 147