SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-17
6.5 Input and Output Functional Description
6.5.1 Reference Analog (± 10V Command) Input
The Reference Analog Input is a ± 10V differential analog Torque or Velocity command input from a System Motion
Controller. The Reference input is also used for general motion control purposes by the Point Motion Control sub-
system. Section 3.15 outlines the electrical characteristics of the analog inputs. Note that in the velocity and torque
modes of control, the polarity of commanded movement can be inverted by use of the ROT_DIR digital input (see
Section 3.15).
In torque and velocity mode, calculations based upon the Reference are carried out and the actual motor torque modified
within a maximum of 430microseconds of the Reference being sampled.
Scaling of process variables (for example the Velocity-Command) are described in Sections 6.6.1 Torque Mode, 6.6.2
Velocity Mode and 6.6.3 Position Mode.
6.5.2 Spare Analog (Analog Torque Limit) Input
The Spare Analog Input is the primary means of measurement of an analog torque limit input from a Motion Controller.
It also serves as a secondary means of measurement of an analog command from a master control system. The Spare
input is also used for general motion control purposes by the Point Motion Control sub-system, when the T200 is
configured in that mode. Section 3.15.3 outlines the electrical characteristics of the analog inputs.
In torque, velocity and position mode, calculations based upon the Spare are carried out and the actual motor torque
modified within a maximum of 8milliseconds of the Spare being sampled.
The use of the Analog Torque Limit is described in more detail in Section 6.7.1.6 Analog Torque Limiting in
Torque Mode.
6.5.3 TP1 Analog Output
The TP1 Analog Output is used principally for diagnostic purposes. It can be programmed with a series of internal
software process variables which can be used to monitor and tune the T200. Section 3.15 outlines the electrical
characteristics of the analog outputs.
The following internal software variables may be monitored on TP1:-
1. Torque: The internal current command can be monitored. This is scaled as 10V= (min)(Motor Peak Current and
Drive Peak Current).
2. Commanded Velocity:- The velocity command can be monitored on TP1. This is scaled by the user-programmable
RPM-per-10V parameter.
3. Actual Velocity:- The actual velocity (feedback) can be monitored on TP1. This is scaled by the user-programmable
RPM-per-10V parameter.
4. Velocity Error:- The velocity error can be monitored on TP1. This is scaled by the user-programmable RPM-per-
10V parameter.
5. Reference Position:- The position command can be monitored on TP1. This is scaled by the user-programmable
Revs-per-10V parameter. The T200 contains a special function to zero-reference the present shaft position, such that
this position is taken as the zero-voltage-point of TP1 and TP2.
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