Axis 670 Manuale delle Istruzioni Pagina 13
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exceed the capability of the power supply or the board's output amplifier, noise and even
instability can result. By controlling the maximum slew rate of the input signal, the system's
output amplifier can be kept from saturating. This is always advantageous for accurate
positioning of the scanner. For some applications, fast large-angle positioning is not needed.
For those applications, the slew rate limiter can be used to slow the maximum angular speed
attained for these large
moves,
thus decreasing the amount of wobble and jitter associated.
The slew rate limit is contiolled by
R78.
Refer to section 6.0 for adjusting the slew rate limiter.
••Note: During start up, the output of the slew rate limiter is grounded by the action of an
analog switch, U15B, for about 3 seconds. This allows the servo time to stabilize (about 1
second).
**Caution: Do not adjust R78 without complete understanding of the appropriate section of
6.0. Damage to the scanner could result.
3.7. Tuning Section
The tuning section can be configured two ways depending on the user's needs. If extieme
positioning repeatability is required, the servo board is set up as a class 1 servo. If fast
positioning is of paramoimt importance, the servo board has class 0 capabilities.
The class of
servo
is determined by how many error integrators are in the servo loop. The error
integrator of a class
1
servo makes the system settle to a very high degree of
accuracy.
Even as
friction or other torque disturbances try to affect repeatability, the integrator will eventually take
out all error. This is done at a slight speed penalty. Most applications' requirements are met
very well using the class
1
servo.
Class 0 servos are slightiy faster and more stable than class 1 servos. However, the tradeoff is that
any finite friction causes a
vWndow
of non-repeatability to form around the commanded position.
The error is equal to:
Ertor = FD/KS where. Error = difference between actual and
commanded position in radians
FD
= the disturbance torque in dyne-cm
Ks = the servos stiffness in dyne-cm/radian
Certain applications do allow for the use of the class 0 configuration, along Avith its inherent
non-repeatability. It is described below after
the
class
1
section.
13
- MicroMax™ Series 670 1
- Single Axis Board Level 1
- Mirror Positioning System 1
- 1.0. Introduction 4
- Class 1 14
- ACJC circuit, overposition 17
- Operating Instructions 22
- 5.0. Limited Warranty 25
- 6.0. Appendices 26
- .... 35
- ....:....:....: 36
- .1...: 36
- ['"• 38
- ': d 39
- ^^^ ^I^ 40
- 1 '• 44
- \...}....:• 45
- i..:•....:• 45
- ' 46
- ' : : i : 47
- '^^r\T\ 51
- .... L .... 52
- .... J. .... 52
- SILKSCREEN D03320 59
- XJUTmi] cEnQia 60
- In Goojo 61
- A(x our 62
- 6010-1-XXX 62
- SCANNER DRIVE CABLE 62
- 68XX DRIVE CABLE 63
- 6010-8L-XXX 64
- 3/4" TYP(4)-* 66
- 6010-16-XXX 66
- 6010-17L-XXX 68
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