Copley Controls Xenus Plus Series - Page 23

Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 23
Velocity Loop Limits
The velocity command is limited based on the following set of parameters designed to protect the
motor and/or the mechanical system.
Limiter
Description
Velocity Limit
Sets the maximum velocity command input to the velocity loop.
Acceleration Limit
Limits the maximum acceleration rate of the commanded velocity input to the velocity
loop.
This limit is used in velocity mode only.
Deceleration Limit
Limits the maximum deceleration rate of the commanded velocity input to the velocity
loop.
This limit is used in velocity mode only.
Fast Stop Ramp
Specifies the deceleration rate used by the velocity loop when the drive is hardware
disabled. (Fast stop ramp is not used when drive is software disabled.) If the brake delay
option is programmed, the fast stop ramp is used to decelerate the motor before applying
the brake.
Note that Fast Stop Ramp is used only in velocity mode. In position mode, the trajectory
generator handles controlled stopping of the motor. There is one exception: if a non-
latched following error occurs in position mode, then the drive drops into velocity mode
and the Fast Stop Ramp is used.
For more information, see Following Error Fault Details (p. 53 ).
Diagram: Effects of Limits on Velocity Command
The following diagram illustrates the effects of the velocity loop limits.
Commanded Velocity
Limited Velocity
Vel Limit
Accel Limit Decel Limit