Infranor XtrapulsGem User Manual

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Content
3.2.2 - Drive Parameters ................................................................................................................. 75
3.2.2.1 - Motor parameters ......................................................................................................................... 75
3.2.2.2 - Motor Brake .................................................................................................................................. 81
3.2.2.3 - Motor current limits & Current Loop .............................................................................................. 82
3.2.2.4 - Dynamic current limits .................................................................................................................. 87
3.2.2.5 - Motor temperature probe .............................................................................................................. 88
3.2.2.6 - IGBT temperature ......................................................................................................................... 89
3.2.2.7 - Sensors ........................................................................................................................................ 90
3.2.2.7.1 - Resolver ................................................................................................................................. 91
3.2.2.7.2 - Encoder .................................................................................................................................. 94
3.2.2.7.3 - TTL Encoder .......................................................................................................................... 97
3.2.2.7.4 - Sin-Cos Encoder .................................................................................................................... 97
3.2.2.7.5 - Hall Effect Sensor .................................................................................................................. 97
3.2.2.7.6 - Hiperface® ............................................................................................................................. 98
3.2.2.7.7 - Absolute Multi-turn Position .................................................................................................... 99
3.2.2.8 - Factor and units .......................................................................................................................... 102
3.2.2.9 - Servo Loops ................................................................................................................................ 104
3.2.2.10 - Auto-tuning ............................................................................................................................... 113
3.2.2.11 - Save / Load parameters ........................................................................................................... 115
3.2.3 - Operation Modes ............................................................................................................... 117
3.2.3.1 - Supported Drive Modes .............................................................................................................. 117
3.2.3.2 - Mode selection ............................................................................................................................ 118
3.2.3.3 - Profile Position Mode .................................................................................................................. 119
3.2.3.4 - Homing Mode ............................................................................................................................. 125
3.2.3.5 - Interpolated Position Mode ......................................................................................................... 132
3.2.3.6 - Profile Velocity Mode .................................................................................................................. 134
3.2.3.7 - Profile Torque Mode ................................................................................................................... 137
3.2.3.8 - Sequence Mode .......................................................................................................................... 138
3.2.3.8.1 - Positioning Sequence .......................................................................................................... 140
3.2.3.8.2 - Homing Sequence ................................................................................................................ 142
3.2.3.8.3 - Speed Sequence .................................................................................................................. 142
3.2.3.8.4 - Torque Sequence ................................................................................................................. 144
3.2.3.8.5 - Gearing Sequence ............................................................................................................... 145
3.2.3.8.6 - Sequence Chaining .............................................................................................................. 147
3.2.3.8.7 - Sequence Parameters.......................................................................................................... 149
3.2.3.8.8 - Sequence File Format .......................................................................................................... 161
3.2.3.9 - Stepper Emulation Mode ............................................................................................................ 163
3.2.3.10 - Analog Speed Mode ................................................................................................................. 167
3.2.3.11 - Analog Torque Mode ................................................................................................................ 168
3.2.3.12 - Gearing Mode ........................................................................................................................... 169
3.2.4 - Master-Slave Functions ..................................................................................................... 170
3.2.4.1 - Master-Slave ............................................................................................................................... 170
3.2.4.2 - Virtual Master .............................................................................................................................. 178
3.2.4.3 - Gearbox Function ....................................................................................................................... 180
3.2.5 - Application Feature ............................................................................................................ 187
3.2.5.1 - Digital Input/Output configuration ................................................................................................ 187
3.2.5.2 - Analog Inputs/Output .................................................................................................................. 194
3.2.5.3 - Encoder Emulation Output .......................................................................................................... 197
3.2.5.4 - Digital Cam ................................................................................................................................. 200
3.2.5.5 - Capture ....................................................................................................................................... 203
3.2.5.6 - Modulo function .......................................................................................................................... 211
3.2.5.7 - Digital Input/Output extension ..................................................................................................... 213
3.2.6 - Maintenance ...................................................................................................................... 224
3.2.6.1 - Files ............................................................................................................................................ 224
3.2.6.2 - Firmware update ......................................................................................................................... 225
3.3 - OBJECT LIST .............................................................................................................................. 228

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English