Qs_for_Vertex

1. Heating (warming) of drive motors

This was an afterthought, and is done only in Stop mode Why did Vertex choose (in FB217) to use the velocity setpoint to establish a warming current? Since the velocity loops are closed in the DCS analog circuit boxes, won't a velocity setpoint, when the brakes are set, result in a large, if not maximum, current? Answer: on the GD and the CH they did apply the warming via the gravity compensation analog output. But the AZ has no gravity compensation nor does it have computer-controlled torque bias.

2. Are analog output (and input) operations executed immediately (answer seems to be yes) or, like the digital i/o, do they occur at the end of OB1 when the Q's are transferred to the peripherals? Yet processor manual in explaining cycle processing says "Phase 3, The values contained in the process image of the outputs are output by tht system program to the output modules assigned to the CPU." In our system, the analog outputs, at least, seem to be immediate, as when the velocity is set by :F QW240, where QW240 is the 'symbol' for PW240. (PW is a "Peripheral Word" immeditate i/o).