SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-45
6.7.3 Position Mode
6.7.3.1Position Mode Reference Sources
One of the following sources for position command need to be programmed by the user:-
1/ Internal Function Generator. The T200 provides an internal software function generator for position reference
generation. The function generator produces spline shaped position profiles, in order to tune the T200. Position loop
gains. The Acceleration, Traverse, Velocity Amplitude, Offset, Period of excitation and Duty Cycle are programmable.
See Section 6.5 Internal Function Generator for further information.
2/ Analog Source:- The analog command input is limited to the range ±10V. The transfer function from voltage to
position command is given by:-
VV
in
command
10
0VRevs_Per_1
=
Θ
where V
in
is the input voltage
Revs_per_10V is a user-programmed scaling factor
3/ Point Motion Controller Source:- The T200's integral Point motion controller creates a position command as an
output of loop closure function blocks. This function is available in the 'P' software version only.
4/ CAN Source:- The T200 can be operated in fine-interpolation positioning mode or point-to-point positioning profile
mode. See Section 9.
5/ Stepper Motor Interface Mode:- The T200 can use its RS422 type incremental encoder input as a means of
inputting stepper mode Up/Down, and Quadrature mode inputs. See Stepper Motor Interface.
6.7.3.2Position Mode Offset Adjust
An automatic analog offset adjust mechanism exists for the analog position reference. This operates in exactly the same
way as the offset-adjust in torque mode. See Section 6.7.1.2 Torque-Command Analog Offset Adjust for a description.
6.7.3.3Programmable Torque Limiting in Position Mode
The T200 uses the Automatic and Manual Torque Limits as described in Section Automatic and Manual Power Settings,
under the control of the AUTO_MAN digital input.
6.7.3.4Programmable Velocity Limiting in Position Mode
The T200 applies the Automatic_Mode_Velocity_Limit and Manual_Mode_Velocity_Limits in position mode. The
T200 will ensure that the actual velocity never exceeds the particular Velocity_Limit (which is selected from either the
Automatic_Mode_Velocity_Limit or the Manual_Mode_Velocity_Limit depending upon the status of the AUTO_MAN
input) by clamping the velocity command, which is output from the internal position control loop, to the applicable
Velocity Limit.
is the commanded motor position
command
Θ
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