On page 22-2, add the following information after the second paragraph (dual channel… Sequence) Article 22-2 (Operation):
Starting with version 0C, RSR firmware supports a cascading PI configuration, where the output of PI 1 is used as the destination location input of PI 2. Other feature cascading operations to be supported are signposts for select direct/indirect PI operations, and an anti-shutdown feature called “Retreat”. Some of these new features are actually cascade independent, but all of them are described in detail in this document.
Page 22-9, delete all remaining paragraphs (six paragraphs) after the second paragraph (any) in the full calibration bullet under the Calibration Mode section:
Page 22-9, add the following to the deleted paragraph from the above item: When full calibration is required, the valve is first moved to 0%. At 0%, the demodulator gain is adjusted until the feedback voltage is close to 10 volts. The demodulator gain in this case is the maximum possible demodulator gain.
And then the valve goes to 100%. If the voltage is greater than 10 volts, or off scale, lower the demodulator gain and read the voltage. This reading is 100% calibrated to the valve. The valve then moves to 0% and reads the voltage. This reading is 0% calibration. After the 0% calibration valve is determined, the new value is written into EE memory. Page 22-17, under Part 22-8(Valve Position Control), replace the part “Seat and back seat” and include the following :22-8.1 Seat, back seat and retreat The seat and back seat function similarly except that the seat closes the valve and the back seat opens it. Therefore, only seats are described here.
Retreat is an anti-coil function. It is important to remember that when the RSR servo output approaches 0 volts, the valve is stationary. When the servo output is away from the midpoint, the valve moves to the desired position and the servo output returns to nearby 0 volts.
Rest is a function of being seated. It is highly programmable. When the target position is less than the seatLimit, the RSR enters the seatlimit mode. In this mode, the RSR wants to close the valve as quickly as possible. It achieves this by driving the output hard in the direction of the guideway valve closed.
Back in the timer expires (retreatHoldT), once the valve position close to the position of RSR want (ABS feedback | | target < poserorretreat). When a valve retreats, the servo outputs the programmed value (exitSeatVal) predefined rate (retreatRate) from the track to A.