Editing Signal path of motor drive
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===Setpoint signal path=== | ===Setpoint signal path=== | ||
Main parts are: | Main parts are: | ||
− | *Input multiplier. Purpose of this is to increase resolution of input setpoint to allow more fine grained velocity & acceleration control in trajectory planner. By default | + | *Input multiplier. Purpose of this is to increase resolution of input setpoint to allow more fine grained velocity & acceleration control in trajectory planner. By default [[MUL]] value is 50. |
*Setpoint smoothing filter. If enabled, applies low pass filter to signal reducing jitter and roughness of signal but also introduces about some delay. By default the filter has 100% attenuation at 250Hz. | *Setpoint smoothing filter. If enabled, applies low pass filter to signal reducing jitter and roughness of signal but also introduces about some delay. By default the filter has 100% attenuation at 250Hz. | ||
− | * | + | *Trajectory planner. This limits rate of change of setpoint signal based on [[CVL]] and [[CAL]] parameters. Output rate maximum rate of change: |
− | **Velocity changes max | + | **Velocity changes max [[CAL]] nubmer of units per [[control cycle]] (control cycle is 400µs in most GD drives) |
− | **Velocity maximum value is limited to | + | **Velocity maximum value is limited to [[CVL]] |
− | *Input divider. This divides setpoint signal by | + | *Input divider. This divides setpoint signal by [[DIV]] to give desired output scale for ''internal setpoint''. Combination of multiplier and divider can be used change total scaling of setpoint signal. |
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* Velocity mode: frequency input, setpoint = number of edges of either channel per [[control cycle]] | * Velocity mode: frequency input, setpoint = number of edges of either channel per [[control cycle]] | ||
|- | |- | ||
− | | PWM | | + | | PWM || Absolute || Full input scale equals setpoint range of +/-16384 || Direct 1:1 absolute value in all modes |
− | + | ||
− | + | ||
|- | |- | ||
− | | Analog || Full input scale equals setpoint range of +/-16384 | + | | Analog || Absolute || Full input scale equals setpoint range of +/-16384 || Direct 1:1 absolute value in all modes |
|- | |- | ||
− | | Serial ([[SimpleMotion V2]]) || Absolute & incremental || Infinite | + | | Serial ([[SimpleMotion V2]]) || Absolute & incremental || Infinite || Direct 1:1 absolute value in all modes |
|} | |} | ||
− | It should be noted that trajectory planner operates after multiplier meaning that | + | It should be noted that trajectory planner operates after multiplier meaning that [[CVL]] velocity limit value is not in equal scale with velocity setpoint value. |
− | + | ||
===Internal setpoint=== | ===Internal setpoint=== | ||
− | Internal setpoint | + | Internal setpoint equals the setpoint and feedback scale of signals in the controller (see below). The scale of feedback signals are: |
− | *Position | + | *Position feedback: position sensor [[Quadrature|counter]] raw value |
− | *Velocity | + | *Velocity feedback: number of feedback device [[Quadrature|counts]] per one [[control cycle]]. Obtained by calculating the difference of position feedback values at every control cycle. |
− | + | *Torque: hardware specific scale, however '''Torque scaler''' knows the hardware scale and scales internal setpoint so that value of +/-16384 represents full torque scale (i.e. internal setpoint value 16384 outputs configured peak current [[MMC]] and 8192 outputs [[MMC]]/2) | |
− | + | ||
− | *Torque | + | |
==Controller== | ==Controller== | ||
The default controller type of GD drives is cascaded type where each controlled variable has it's own PI or P controller. In position mode such structure is called as PIV controller. | The default controller type of GD drives is cascaded type where each controlled variable has it's own PI or P controller. In position mode such structure is called as PIV controller. | ||
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− | + | [[File:Driveblockdiagram controller.png|800px]] | |
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− | + | ==Setpoint scale examples== | |
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