vertex control of carriage house file hagen\wpfiles\vertexdoc\ chcontrol To: file From: Jon Hagen Date: Aug. 25, 2001 Subject: Vertex control of carriage house The Carriage House drive system uses fewer motors and few digital control bits than the azimuth and gregorian drive system. Let's examine the control structure in detail. The control signal are as follows: Analog from PLC to DCS 1. speed setpoint: analog pair from PLC analog out DW244 (program Data Word 244) to the DCS. Requested velocity. 2. Torque Bias + Gravity Compenstation 1 (bias current request for Motor 1) from PLC analog out DW252 3. Torque Bias + Gravity Compenstation 2 (bias current request for Motor 1) from PLC analog out DW252 Analog to Kollmorgen Amplifiers from DCS 4. Current set point M1 (current command) to Kollmorgen amp 03U01, which feeds motor M1 (03Mm01) 5. Current set point M2 (current command) to Kollmorgen amp 04U01, which feeds motor M2 (04M01) Analog from Kollmorgen Amplifiers to DCS 6. Actual Speed M1: tachometer signal from Kollmorgen amp 03U01 ( Motor 1's amplifier) 7. Actual Speed M2: tachometer signal from Kollmorgen amp 04U01 (Motor 2's amplifier) Analog from DCS to PLC 8. Actual Speed CH : average of tachometer signals, sent to PLC analog input word IW164 Analog from Kollmorgen Amplifiers direct to PLC 9 & 10. The motor currents, measured within the amplifiers, are sent to the PLC as anlog input words IW168 (Motor 1) and IW170 (Motor 2)