X FIGURES
SB1391 Hardware and Setup Guide - Document revision no. 1.14
FIGURE 5-58 Opening the Trace window.................................................................................5-62
FIGURE 5-59 Trace window .....................................................................................................5-62
FIGURE 5-60 Program execution and trace messages ..............................................................5-63
FIGURE 5-61 Saving and loading control unit memory contents .............................................5-65
FIGURE 5-62 ACS Saver ..........................................................................................................5-66
FIGURE 5-63 ACS Loader........................................................................................................5-67
FIGURE 6-1 Control algorithm ...................................................................................................6-6
FIGURE 6-2 Plant (motor + load) model.....................................................................................6-7
FIGURE 6-3 Commutation and power amplifier stage................................................................ 6-8
FIGURE 6-4 Current loop and filter ............................................................................................6-9
FIGURE 6-5 Velocity loop and filter.........................................................................................6-10
FIGURE 6-6 Current filter Bode diagram.................................................................................. 6-11
FIGURE 6-7 Current loop response after first Gain (D4) adjustment (step 4). .........................6-12
FIGURE 6-8 Current loop response after second Gain (D4) adjustment...................................6-13
FIGURE 6-9 Current loop response after Integrator gain (D3) adjustment ............................... 6-13
FIGURE 6-10 Velocity proportional-integral filter Bode diagram............................................6-17
FIGURE 6-11 Velocity loop step response................................................................................ 6-18
FIGURE 6-12 Motion parameters dialog box............................................................................ 6-19
FIGURE 6-13 Position loop velocity response ..........................................................................6-20
FIGURE 6-14 Position loop error response ...............................................................................6-21
FIGURE 6-15 Position error for various SK values...................................................................6-22
FIGURE 6-16 Position error profile when AF=0.......................................................................6-23
FIGURE 6-17 Position error profile when AF=500...................................................................6-23
FIGURE 6-18 DC brushless (AC servo/AC synchronous) motor - velocity vs. torque.............6-24
FIGURE 6-19 Dual loop block diagram ....................................................................................6-26
FIGURE 7-1 Multiple drop connections for RS-232 ...................................................................7-3
FIGURE 7-2 Multiple drop connections for RS-422/485 ............................................................. 7-4
FIGURE 8-1 Vector control.........................................................................................................8-2
FIGURE 8-2 Current and magnetic field vectors.........................................................................8-3
FIGURE 8-3 Model of separately excited DC motor...................................................................8-3
FIGURE 8-4 Model of induction motor in synchronously rotating reference frame...................8-4
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