Typically, most of the signal blocks are set to directly pass the
signal so that ICmd = CMDGain*(AnalogIn) as directly as
possible. The set of parameters below accomplish this result.
ADF0 = 100,000 Hz to bypass, 1000 Hz by auto set up
ARF0 = 100,000 Hz
ARF1 = 100,000 Hz
ARZ0 = 0 (not active)
ARZ1 = 0 (not active)
KVP = 1 A/rad/sec
KVI =0Hz
IMPORTANT
The KVP parameter must be set to 1 A/rad/sec for the units
on CmdGain to be correct. If CmdGain is set to 1 Amp/V
and KVP to 2 A/rad/sec then an analog input of 1 volt will
incorrectly give 2 amps of output torque current amplitude.
When changing the BlkType from something else to 0 to get an
analog torque block you will generally need to additionally set
KVP to 1, KVI to 0, and the other items in the above list to
appropriate values to get the system working as desired.
A.2 Velocity Block Modes
A.2.1 Analog Command Velocity Block (BlkType = 1)
This mode allows the differential analog voltage between
terminals J4-1 and J4-2 to set the motor’s shaft velocity, also
informally known as shaft speed. The overall gain of this block,
i.e. the output shaft velocity per input volt, is set by the
CmdGain parameter in kRPM/V and should be set by the user to
the desired value.
MA950 A-3
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