模拟量输入模块|F6217|仪表系统SIS

产品标题：模拟量输入模块|F6217|仪表系统SIS

型号：F6217

品牌：HEIMA

                                                                产品详情资料：

1、转矩控制：转矩控制方式是通过外部模拟量的输入或直接的地址的赋值来设定电机轴对外的输出转矩的大小，具体表现为例如10V对应5Nm的话，当外部模拟量设定为5V时电机轴输出为2.5Nm:如果电机轴负载低于2.5Nm时电机正转，外部负载等于2.5Nm时电机不转，大于2.5Nm时电机反转(通常在有重力负载情况下产生)。可以通过即时的改变模拟量的设定来改变设定的力矩大小，也可通过通讯方式改变对应的地址的数值来实现。

　　应用主要在对材质的受力有严格要求的缠绕和放卷的装置中，例如饶线装置或拉光纤设备，转矩的设定要根据缠绕的半径的变化随时更改以确保材质的受力不会随着缠绕半径的变化而改变。

　　2、位置控制：位置控制模式一般是通过外部输入的脉冲的频率来确定转动速度的大小，通过脉冲的个数来确定转动的角度，也有些伺服可以通过通讯方式直接对速度和位移进行赋值。由于位置模式可以对速度和位置都有很严格的控制，所以一般应用于定位装置。应用领域如数控机床、印刷机械等等。

　　3 、速度模式：通过模拟量的输入或脉冲的频率都可以进行转动速度的控制，在有上位控制装置的外环PID控制时速度模式也可以进行定位，但把电机的位置信号或直接负载的位置信号给上位反馈以做运算用。位置模式也支持直接负载外环检测位置信号，此时的电机轴端的编码器只检测电机转速，位置信号就由直接的***终负载端的检测装置来提供了，这样的优点在于可以减少中间传动过程中的误差，增加了整个系统的定位精度。

　　4、谈谈3环，伺服一般为三个环控制，所谓三环就是3个闭环负反馈PID调节系统。***内的PID环就是电流环，此环完全在伺服驱动器内部进行，通过霍尔装置检测驱动器给电机的各相的输出电流，负反馈给电流的设定进行PID调节，从而达到输出电流尽量接近等于设定电流，电流环就是控制电机转矩的，所以在转矩模式下驱动器的运算***小，动态响应***快。

　　第2环是速度环，通过检测的电机编码器的信号来进行负反馈PID调节，它的环内PID输出直接就是电流环的设定，所以速度环控制时就包含了速度环和电流环，换句话说任何模式都使用电流环，电流环是控制的根本，在速度和位置控制的同时系统实际也在进行电流(转矩)的控制以达到对速度和位置的相应控制。

　　第3环是位置环，它是***外环，可以在驱动器和电机编码器间构建也可以在外部控制器和电机编码器或***终负载间构建要根据实际情况来定。由于位置控制环内部输出就是速度环的设定，位置控制模式下系统进行了所有3个环的运算，此时的系统运算量，动态响应速度也***慢。

　　速度控制和转矩控制都是用模拟量来控制的。位置控制是通过发脉冲来控制的。具体采用什么控制方式要根据客户的要求，满足何种运动功能来选择。

                                                        产品英文详情资料：

1. Torque control: The torque control method is to set the size of the external output torque of the motor shaft through the input of an external analog quantity or the assignment of a direct address. For example, if 10V corresponds to 5Nm, when the external analog quantity is set to 5V, the motor shaft output is 2.5Nm. If the motor shaft load is less than 2.5Nm, the motor rotates forward, and when the external load is equal to 2.5Nm, the motor does not rotate, When the torque is greater than 2.5Nm, the motor reverses (usually generated under gravity load). The set torque can be changed by instantly changing the setting of the analog quantity, or by changing the corresponding address value through communication.

The application is mainly in winding and unwinding devices that have strict requirements for the force on the material, such as wire winding devices or fiber pulling equipment. The torque setting should be changed at any time according to the change of the winding radius to ensure that the force on the material will not change with the change of the winding radius.

2. Position control: The position control mode generally determines the rotational speed through the frequency of external input pulses, determines the rotation angle through the number of pulses, and some servo systems can directly assign values to speed and displacement through communication. Due to the strict control of speed and position, position mode is generally applied to positioning devices. Application fields such as CNC machine tools, printing machinery, etc.

3. Speed mode: Rotation speed can be controlled through analog input or pulse frequency. In the outer loop PID control with upper control device, the speed mode can also be positioned, but the position signal of the motor or the position signal of the direct load must be fed back to the upper control for calculation. The position mode also supports direct load outer ring detection of position signals. At this time, the encoder at the motor shaft end only detects the motor speed, and the position signal is provided by the direct * * * final load end detection device. The advantage of this is that it can reduce errors in the intermediate transmission process and increase the positioning accuracy of the entire system.

4. Speaking of three loops, the servo system is generally controlled by three loops, and the so-called three loops are three closed-loop negative feedback PID control systems*** The inner PID loop is the Current loop, which is completely carried out inside the servo driver. The output current of each phase of the motor from the driver is detected by the Hall device, and the setting of the negative feedback current is PID adjusted, so that the output current is as close as possible to the set current. The Current loop is used to control the motor torque, so the driver's operation * * * is small, and the dynamic response * * is fast in the torque mode.

The second loop is the speed loop, which performs negative feedback PID regulation by detecting the signal of the motor encoder. Its PID output in the loop is directly the setting of the Current loop, so the speed loop control includes the speed loop and the Current loop. In other words, any mode must use the Current loop, and the Current loop is the basis of control, At the same time as speed and position control, the system is actually controlling the current (torque) to achieve corresponding control of speed and position.

The third ring is the position ring, which is an * * * outer ring that can be built between the driver and motor encoder, as well as between the external controller and motor encoder

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