Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario descargar pdf (Pagina 7)

List of Figures

Figure 2.1 - Module Faceplate ......................................................2-2

Figure 2.2 - Encoder Input Circuit .................................................2-4

Figure 2.3 - Typical Registration Input Circuit...............................2-5

Figure 2.4 - Typical Digital Input Circuit ........................................2-5

Figure 3.1 - Rack Slot Numbers....................................................3-2

Figure 3.2 - Typical Encoder Connections....................................3-3

Figure 3.3 - Typical Encoder Power Supply Connections.............3-4

Figure 3.4 - Typical Limit Switch Connections ..............................3-5

Figure 3.5 - Typical Registration Input Connections .....................3-5

Figure 3.6 - Typical Drive Reference / Voltage Reference

Connections with External P/S..................................3-6

Figure 3.7 - Typical E-stop Circuit with Watchdog Output ............3-7

Figure 3.8 - Typical Drive Fault Connections................................3-8

Figure 4.1 - Encoder Configuration Register.................................4-3

Figure 4.2 - Control Loop Configuration Register .........................4-4

Figure 4.3 - Home and Overtravel Configuration Register............4-5

Figure 4.4 - Proportional Gain Register ........................................4-7

Figure 4.5 - Integral Gain Register................................................4-7

Figure 4.6 - Velocity Gain Register ...............................................4-8

Figure 4.7 - Feedforward Gain Register........................................4-8

Figure 4.8 - Deadband Compensation Register............................4-8

Figure 4.9 - Maximum Position Error ............................................4-9

Figure 4.10 - Maximum Velocity Error Register ..............................4-9

Figure 4.11 - In-Position Tolerance Register ................................4-10

Figure 4.12 - Positive Overtravel Limit Registers..........................4-10

Figure 4.13 - Negative Overtravel Limit Registers ........................4-11

Figure 4.14 - Low Speed Homing Reference Register .................4-11

Figure 4.15 - Command Position Registers .................................4-12

Figure 4.16 - Command Velocity Registers ..................................4-13

Figure 4.17 - Command Acceleration Registers ...........................4-14

Figure 4.18 - Command Deceleration Registers...........................4-14

Figure 4.19 - Gear Ratio Registers ...............................................4-15

Figure 4.20 - User-Controlled LED Register .................................4-16

Figure 4.21 - Drive Command Reference Register.......................4-16

Figure 4.22 - Sync Position Registers...........................................4-17

Figure 4.23 - Maximum Voltage Reference Output Register ........4-18

Figure 4.24 - Positive Linearization Constant Register.................4-18

Figure 4.25 - Positive Linearization Constant Register.................4-19

Figure 4.26 - Feedback Unwind Constant Registers ...................4-19

1 2 3 4 5 6 7 8 9 10 11 12 ... 121 122

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Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 7