Analog channel

NAVIGATION: Motion profile > Analog channel

Analog channel

Settings

Two standard analog inputs ISA00, ISA01 are available. The negative indices are set for analog reference input, and the positive indices for digital reference processing. The option REV(-2) = Analog command specifies an analog voltage of +/- 10 V.

Bild: Reference processing

Bild: Standard analog inputs

Assignment: +/- 10 V corresponds to the maximum reference value (e.g. 3000 rpm).
Component spread can be compensated by way of the offset function.
The backlash setting can be used to suppress movement of the axis in the standstill range.
The setting for specifying torque references is made via the analog channel, as in speed control.
Braking/acceleration ramp for torque and speed

Position reference input via analog channel

With the analog inputs ISA00 or ISA01 absolute position references can be specified for position control. The connected input voltage is assigned to the maximum position reference value by means of a scaling factor in the range ±10 V. Setting a position offset can compensated for component variations. A threshold value can also be specified which generates a run-on range around the last reference value. A ramp function calculates a motion profile for the position reference from pre-defined acceleration and speed limits.
The position references on the analog channel are not applied immediately, but dependent on a digital input. For this, one of the digital inputs ISD00 to ISD06 must be parameterized to the value REFANAEN(28). The received position reference is only applied when the corresponding digital input is TRUE. The acceleration is entered in parameter P 0173[0] MPRO_ANA0_TScale or P 0183[0] MPRO_ANA1_TScale.

Parameters

P. no.	Parameter name Setting	Function
P 0173 P 0183	Scaling factor	Scaling
(0)	MPRO_ANAX_TScale	Scaling of torque reference
(1)	MPRO_ANAX_SScale	Scaling of speed reference
(2)	MPRO_ANAX_PScale	Scaling of position reference
P 0174 P 0184	Offset
(0)	MPRO_ANAX_TOffset	Torque reference offset
(1)	MPRO_ANAX_SOffset	Speed reference offset
(2)	MPRO_ANAX_POffset	Position reference offset
P 0175/ P 0185	Backlash
(0)	MPRO_ANAX_TThreshold	Torque reference backlash
(1)	MPRO_ANAX_SThreshold	Speed reference backlash
(2)	MPRO_ANAX_PThreshold	Position reference backlash
P 0176 P 0186	Acceleration/braking ramp for torque
(0)	MPRO_ANAX_TRamp	Speed acceleration ramp
(1)	MPRO_ANAX_TRamp	Speed braking ramp
P 0177/ P 0187	Acceleration/braking ramp for speed
(0)	MPRO_ANAX_SRamp	Speed acceleration ramp
(1)	MPRO_ANAX_SRamp	Speed braking ramp
P 0405/ P 0406	CON_ANA_filtx	Filter time (0-100 ms)

Tabelle: Reference processing, analog inputs ISA00, ISA01

Setting

Function selector P 0109/P 0110: MPRO_INPUT_FS_ISA00/ISA01= REFV (-2)
Reference processing via PG/IP mode (see also Profile generator)
Analog channel setting:
- Select input function
- Scaling
- Voltage offset [V]
- Filter time
Set acceleration/braking ramps, stop ramps