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SB1391
ACS Tech80 SB1391 User Manual
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6-26
TUNING T
HE
CONT
ROL LOO
PS
SB1391
Hardware and S
etup Guid
e
- Documen
t revi
sion no.
1.14
du/dt
+
-
DP
0
D21
GA*2
GF
Velocity FF
DA Command
V_FF
Velocity Command
AV
Current
Command
Torque Disturbance
Current Command
Current
Command
VELOCITY FILTER
CURRENT FILTER
PLANT
du/dt
Counts
D22
K5
1 for velocity
2 for current
DA
CURRENT or
VEL COMMAND
TD
Current
Command
POS 1
POS 2
Counts
CP
Load
Profile
generator
2
12
1
FIGUR
E 6-1
9 Du
al loo
p block
diag
ram
153
155
Table of Contents
Table of Contents
5
Preface
14
Introduction
16
About Acs-Tech 80 M
16
Safety and Emc Guidelines
17
Ul Compliance Section
17
General Safetyg
19
General Wiring Ande
20
Features & Specifications
22
Main Features
22
Product Specifications
25
Mounting and Wiring
27
Mounting
27
Wiring Diagram
29
Power Connectors
31
Control Connectors
40
Indicators , Switches , D
58
Working with the Control Unit
62
Getting Started
64
Adjusting the Unit
66
Acspl Programming with
106
Direct Mode
110
Program Mode
116
Saving and Loadingc
126
Tuning the Control Loops
129
Aboutd Andk Arrays
130
Control Loop Blockd
132
Current Loop
139
Commutation
142
Velocity Loop
143
Position Loop
146
Slip Constanto
149
Polishing
150
Dual Loop Control
152
Hardware Interface Parameters
157
Serial Communications
158
Can Communications
161
Encoder 1 and Encoder
165
Hall Sensors
165
Input /Output Ports and
165
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ACS Tech80 SB1391 Specifications
General
Brand
ACS Tech80
Model
SB1391
Category
Controller
Language
English
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