模擬量輸入模塊|F6217|儀表係統SIS_廈門阿米控技術有限公司

產品標題：模擬量輸入模塊|F6217|儀表係統SIS

型號：F6217

品牌：HEIMA

產品詳情資料：

1、轉矩控制：轉矩控制方式是通過外部模擬量的輸入或直接的地址的賦值來設定電機軸對外的輸出轉矩的大小，具體表現為例如10V對應5Nm的話，當外部模擬量設定為5V時電機軸輸出為2.5Nm:如果電機軸負載低於2.5Nm時電機正轉，外部負載等於2.5Nm時電機不轉，大於2.5Nm時電機反轉(通常在有重力負載情況下產生)。可以通過即時的改變模擬量的設定來改變設定的力矩大小，也可通過通訊方式改變對應的地址的數值來實現。

　　應用主要在對材質的受力有嚴格要求的纏繞和放卷的裝置中，例如饒線裝置或拉光纖設備，轉矩的設定要根據纏繞的半徑的變化隨時更改以確保材質的受力不會隨著纏繞半徑的變化而改變。

　　2、位置控制：位置控制模式一般是通過外部輸入的脈衝的頻率來確定轉動速度的大小，通過脈衝的個數來確定轉動的角度，也有些伺服可以通過通訊方式直接對速度和位移進行賦值。由於位置模式可以對速度和位置都有很嚴格的控制，所以一般應用於定位裝置。應用領域如數控機床、印刷機械等等。

　　3 、速度模式：通過模擬量的輸入或脈衝的頻率都可以進行轉動速度的控制，在有上位控制裝置的外環PID控制時速度模式也可以進行定位，但把電機的位置信號或直接負載的位置信號給上位反饋以做運算用。位置模式也支持直接負載外環檢測位置信號，此時的電機軸端的編碼器只檢測電機轉速，位置信號就由直接的***終負載端的檢測裝置來提供了，這樣的優點在於可以減少中間傳動過程中的誤差，增加了整個係統的定位精度。

　　4、談談3環，伺服一般為三個環控制，所謂三環就是3個閉環負反饋PID調節係統。***內的PID環就是電流環，此環完全在伺服驅動器內部進行，通過霍爾裝置檢測驅動器給電機的各相的輸出電流，負反饋給電流的設定進行PID調節，從而達到輸出電流盡量接近等於設定電流，電流環就是控制電機轉矩的，所以在轉矩模式下驅動器的運算***小，動態響應***快。

　　第2環是速度環，通過檢測的電機編碼器的信號來進行負反饋PID調節，它的環內PID輸出直接就是電流環的設定，所以速度環控制時就包含了速度環和電流環，換句話說任何模式都使用電流環，電流環是控制的根本，在速度和位置控制的同時係統實際也在進行電流(轉矩)的控制以達到對速度和位置的相應控制。

　　第3環是位置環，它是***外環，可以在驅動器和電機編碼器間構建也可以在外部控制器和電機編碼器或***終負載間構建要根據實際情況來定。由於位置控制環內部輸出就是速度環的設定，位置控制模式下係統進行了所有3個環的運算，此時的係統運算量，動態響應速度也***慢。

　　速度控制和轉矩控制都是用模擬量來控制的。位置控制是通過發脈衝來控制的。具體採用什麼控制方式要根據客戶的要求，滿足何種運動功能來選擇。

產品英文詳情資料：

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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