Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 44)

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Position Feedback

Feedback position (PosnFeedback) is the actual motor position in user units. PosnCommand minus the PosnFeedback is the

FollowingError.

Following Error

Following Error is the difference between the PosnCommand and the PosnFeedback. It is positive when the PosnCommand

is greater than the PosnFeedback.

Encoder Position

Motor encoder position in encoder counts (PosnFeedbackInCounts). This position reflects the feedback position of the motor

and is not scaled into user units. This is a signed 32 bit value.

Motor Velocity Group

Velocity Command

The Velocity Command (VelCommand) is the velocity that the device is commanding the motor to run at. This command is

generated by the drive velocity control loop and position loop. It is displayed in user units.

Velocity Feedback

The Velocity Feedback (VelFeedback) is the feedback (or actual) velocity. It is calculated using the change in position of the

motor encoder. It will always return the actual motor velocity - even in synchronized applications in which the master axis is

halted during a move.

Control Loop Group

Changing the Trajectory Update Rate can have a major effect on the performance of the servo system. A longer trajectory

update rate means that more time is available to process user programs. A shorter update rate means that the control loop is

updated more often and provides the most accurate performance. Without proper diagnostics, it can be impossible to tell how

much time is being consumed by the control loop update, and how much time is available to run user programs.

The Control Loop group of parameters on the Status Online tab shows the user how much time is available to run programs.

There are two parameters available to help with this. They are as follows:

Control Loop Limit

This parameter shows the lowest measured time difference (in microseconds) between the Trajectory Update Rate and the

time taken to process the control loop since the last reset. Certain features in the FM-3/4 require more time to process (i.e.

PLS, Capture, Compound Indexes), and therefore will cause lower limits. The software records the lowest measured value

and displays it as the limit. To reset the limit to the average and continue tracking the lowest value, the user can click on the

Limit button. If the Limit reaches 0, a fault will be generated. If a Limit of less then 75 - 100 usec is seen, it is recommended

to switch the update rate to the next higher value.

Average Margin

This parameter shows a running average of the difference (in microseconds) between the Trajectory Update Rate and the time

taken to process the control loop since the Status Online tab was brought up. The higher the value, the more time available

to run user programs. For Averages less than 150 usec, it is recommended to switch the update rate to the next higher value.

Master Feedback Group

Master Position

Used for synchronized motion, this displays the position of the master encoder in the user units name, defined on the Master

Units View.

Encoder Position

This displays the position of the master encoder in counts.

Master Velocity

This displays the velocity of the master encoder in master user units/second.

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 44

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 44

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