Modes of Operations

Concepts and Capabilities of the Animatics Product Range

Torque Mode:

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Open Loop Directional control of power to the motor windings. In this mode, the motor has knowledge of encoder position but does not use it for motion. The motor will increase speed until its commanded torque equalizes with load torque. If Load torque decreases, shaft speed will increase. If load torque increases, shaft torque will decrease. In a static condition, force applied will be proportional to commanded torque.

Velocity Mode:

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Closed Loop speed control based on Position over time, not frequency. This means that from the initial command to begin motion, the controller keeps track of what the actual position should be.

If load momentarily increases beyond limits of the motor, shaft speed will be slightly reduced. If the load decreases back to within the capabilities of the motor, the shaft speed will increase beyond commanded speed in order to catch up to where it should have been had a constant velocity been maintained.

Position Mode:

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Closed Loop control based on encoder feedback. All position mode moves are classified as either relative or absolute mode. Relative Mode means the motor is commanded to move a set distance in either direction relative to where the shaft is at the time.

Absolute Mode means the motor is commanded to move to a specific location regardless of initial position.

Mode Step (Step and Direction Input):
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The motor will follow a standard step and direction input signal. A ratio of internal encoder counts to incoming pulses may be used. The Step Input can also be used as a high speed counter.

Mode Follow (Electronic Gearing):
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The Motor will follow a standard Quadrature incremental encoder bi-directionally. A ratio of internal encoder counts to external encoder counts may be used.

Expanded Electronic Gearing Functionality:

expanded electronic gearing
Includes separate ascend, slew and descend pre-defined distances that may be defined off of either master or slave encoder values for enhancing applications such as high speed winders.

Phase Offset Adjust Move:

phase adjust mode 
Enables applications such as product tracking where moves must be applied over a target in motion, automatically stabilizes pan & tilt applications, or allows arm end effectors to remain parallel to base while the mid arm section moves.

Phase offset moves may be incorporated to move a relative distance while in Mode Step or Mode Follow. This distance is based on internal encoder counts. Phase Offsets are essentially a Move over a Move in Relative Position Mode. They allow positional adjustment in either direction while actively following the external encoder or pulse train. This method may be used to align gantries as well as control tension in roller feed applications.

CAM Mode (Electronic Caming):
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Similar to Mode Follow, the motor follows an external encoder. However, the motor moves to given points in a Cam table proportional to incoming external encoder counts. Electronic Caming can be thought of as a table of electronic gear ratios that change dynamically based on external encoder position as a point of reference. It is possible to create dwell points at the beginning or end of the Cam table to aid in easy cut-to-length applications.
Contouring Mode (Host Mode):
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Contouring Mode allows for true multi-axis coordinated motion. Contouring Mode is typically used by CNC software packages to control multiple motors within a well defined path. Highly precise motion may be achieved with potentially no diminished capacity regardless of the number of motors being commanded to move.

It is ideal for any applications requiring Linear, Circular, Curve Linear or spline paths.

Note: Contouring Mode typically cannot be commanded from a PLC. It is best suited for PCs or embedded controllers.

Modulo Count Mode

Modulo Count Mode allows the user to define maximum position counter rollover. Normally the shaft position counter can run anywhere from zero to +/- 231. This means the motor counter will continuously increase in the positive direction and when it hits its maximum, it will instantly go negative and begin counting down to zero.

With Modulo Count Mode, the user can alternately set up a counter that will increase up to a given value and then roll directly over to zero and start counting up again. The count will never go negative, it will always be 0<=modulo value<= (Modulo Limit-1). This mode is especially useful in rotary pan or azimuth controls for targeting systems, radar, and Camera bases. Combined with the CombitronicTM interface, multi Camera surveillance systems may more easily pass off subject tracking from one pan & tilt to the next.

modulo count mode

PML= 360 (Position Modulo Limit) maintain counts between 0 and 359
PMT= 270 (Position Modulo Target) take shortest path to Target Position.

DE/Dt: Rate of Change of Following Error Limit (Dervative Error Limit)

DEL (Derivative Error Limit) provides the safest fast-means to fault a motor on sudden changes in load or detection of human interference.

The purpose of this Limit is to act as a look ahead on following error. Instead of just triggering on a raw following error of how far behind in a move the motor may be, the processor is looking at how fast that following error changes. DE/Dt refers to the dynamic rate of change of following error. This results in an instant release of energy and safer operation and less chance of damage to equipment or injury to machine operators.

Under normal servo control following error limits, if the load collides against an object, the motor will not fault until the following error limit is reached. As a result, current and torque applied will increase until that condition is met. By adding an additional derivative limit on following error, the servo will fault out within microseconds of contact with the object.

Example:

DEL=VT 'Set limit to commanded speed

If DE/Dt equals commanded velocity, then the motor just hit a hard stop. Normally, the motor would have to continue applying torque until the normal following error is exceeded. However, if DEL (DE/Dt limit) is set to target velocity (VT), then the controller would error out immediately upon hitting a hard stop without any wind-up whatsoever.

Derivative Error Limit (Rate of change of following error limit)

This feature quickly detects jams for safer operation and less chance of damage to equipment or injury to machine operators.

derivative error limit

Jaw stops immediately upon making contact with metal for minimal product deflection and maximum balance to each side.