Elmo SERVO AMPLIFIER DBP SERIES 用户手册

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DBP - Rev 6/93

The DCB can be commanded to control the position of a motor, its torque or

its velocity using three basic control modes:

- Position Mode

- Velocity Mode

- Position Follower Mode

In the position mode the motor will advance a specified distance and then

stop. This distance can be represented as an absolute position (PA n) or as a

relative distance from the current position (PR n). The motion will follow a

trapezoidal or triangular profile with the acceleration (AC n) and slew

velocity (SP n) set by the user.

In the velocity mode the motor will accelerate to a specified slew speed. It

will hold this speed until a stop condition is received (see termination

modes), or a new velocity/direction is commanded.

It can also control the motor as a position follower of a master encoder or

a pulse and direction signals.

The holding modes describe the behavior of the system after it has stopped.

There are three holding modes:

- Servo

- Motor Off

In the servo mode (SV) the system maintains stopping position by using its

control law to correct for any position errors.

In the Motor Off mode is, the power bridge and the position control are shut

off and there no torque is generated by the amplifier. The Motor Off mode is

useful in robotics applications in the teaching mode.