ACR Electronics FPR-10 PROGRAMMER Manuale Scaricare il pdf (Pagina 34)

Parker Hannifin

34 Programmer’s Guide

Signal: The signal argument determines the signal output by the ACR

controller.

• Analog voltage output

DAC0 through DAC7

• Step and directions outputs.

STEPPER0 through STEPPER7

• Sinusoidal/Trapezoidal commutation output.

CMT0 through CMT7

Velocity: The velocity argument determines the velocity

attachment. This lets you set a velocity feedback source for dual-

loop feedback—this provides a software tachometer based on

encoder or analog signal input.

NOTE: If you are using single-loop feedback, set the velocity

argument to the same value used in the position argument.

• Quadrature encoder feedback applied to the ACR controller

encoder inputs.

ENC0 through ENC7

• Analog position feedback applied to the ACR Card controller

inputs.

ADC0 through ADC7

Attaching Axes

By default, each encoder and DAC is set to the same index as the

axis to which it is attached (for example, ATTACH AXIS0 ENC0 DAC0

ENC0). It is good programming practice to use the same index for

the feedback or signal output as the axis to which you are

attaching.

For example, to attach ADC 4 as position feedback, and DAC 4 as

the command signal to axis 4, send the following:

ATTACH AXIS4 ADC4 DAC4 ADC4

There is one exception—dual-loop feedback. With dual-loop

feedback, you can attach a second feedback source to an axis. In

this case, you must indicate which additional encoder is being used.

For example, to attach encoder 4 as position feedback, DAC 4 as

the command signal, and encoder 9 as the velocity feedback, send

the following:

ATTACH AXIS4 ENC4 DAC4 ENC9

1 2 ... 29 30 31 32 33 34 35 36 37 38 39 ... 198 199

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ACR Electronics FPR-10 PROGRAMMER Manuale Pagina 34