(
r
Start-Up
and
Adjustments
Overspeed - (all modes) The Overspeed variable
is
the overspeed trip point in
RPM
.
Exceeding this speed
will result in a fault.
Filter BW - (velocity, torque and tune mode) Filter BW is the low pass filter which filters the
output
of
the velocity regulator. It reduces the amplitude
of
the current pulses which can
cause excessive noise (rattling sound)
in
the motor when the P GAIN, I GAIN, and/
or
D
GAIN
values are high. Filter
BW
is
entered in
Hz.
P GAIN - (velocity ancttune· mode,
inactive-
· in torque mode) P GAIN is the proportional
gain
of
the velocity regulator. It
is
multiplied
by
the difference between the input velocity
command and the motor velocity to produce torque. Larger proportional gains reduce the
dynamic following error
of
the motor velocity
to
commanded velocity (increases the
bandwidth
of
the velocity regulator).
I GAIN - (velocity and tune mode, inactive in torque mode) I
GAIN
is the integral gain
of
the velocity regulator. The velocity error
is
continually added
to
itself. This sum is
multiplied by the integral gain and is used
to
reduce the steady state error
of
the motor
velocity
to
commanded velocity. I
GAIN
is generally used
to
improve the stiffness
of
the
velocity regulator which reduces the effects
of
load disturbances. Excessive I GAIN,
however, will result
in
overshoot and possible instability.
0
GAIN-
(velocity and tune mode, inactive in torque mode) D
GAIN
is the damping gain
of
the velocity regulator. It is used for two purposes:
1)
it can be used
to
reduce the
overshoot caused by high I GAIN;
2)
it
can
be used
to
minimize torsional resonance
between the motor and load.
Mode - (all modes) The Mode variable is used to select the desired mode: Velocity,
Torque, Tune, or Auto-tune. Velocity mode should be used when the
VCS
input is a
velocity reference. Torque mode should be used when the
VCS
input is a torque
reference. Tune mode is used
to
provide a square-wave velocity command for tuni
ng
the
gains
for
the velocity regulator. Auto-tune automatically_tunes the velocity regulator gains.
The tune and auto-tune modes are used only
to
tune the drive
for
velocity mode operation.
Monitor
- (all modes) The Monitor variable allows one
of
6 variables
to
be monitored on
the monitor output on the Status page, the programmable monitor test point
or
the
programmable monitor output,
PS-3.
The variables which can be monitored are listed in
the monitor information portion of Section 5.2.3.2.2.
5.2.3.3 Multi-Drop Host Mode Serial Protocol
The BRU-Series drive has a serial port
(P6)
that can be configured as
RS-232
(short distance interface up
to
50 feet) and RS-422
Oong
distance interface up to
4000
feet). The factory configuration
of
the drive
is
RS-
232 which provides the terminal mode operation (refer
to
Section 5.2.3.
2)
for
a human user interface with a
VT-52
compatible terminal. Reliance Motion Control
has
a communication software program called
EC
COMM that easily configures an
IBM
compatible computer
for
VT-52
emulation. The RS-232 terminal mode
is the usual way
to
communicate with the
BRU
-Series drives.
However, configuring a BRU-Series drive for
RS-422
automatically replaces the terminal mode with a host
computer communication protocol. In this mode of communication, each BRU-Series drive can be given a
unique address and connected
(in
daisy-chain fashion) on a single serial link. Electro-Craft PRO-Series
controllers that support host mode can
be
placed
on
the same daisy-chained serial link with
the
BRU-
Series with each device having its own unique address.
BRU-200/ BRU
-5
00
Bru
shless
Dr
ives I
ns
tructi
on
Manual
35
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