ARLACON MC300
MC300MAE
Control system
User's manual
29
Product code 1003418
FOR n=0 TO 15
GAIN(n)=150 : INTG(n)=0 : DERV(n)=2
NEXT n
See McBasic manual for more information.
Fig 3.3 shows the principle of the servo control system for one axis.
SERVO-
AMPLIFIER
SPEED FEEDBACK
POSITION FEEDBACK
TACHO GENERATOR
POSITION ENCODER
SERVOMOTOR
POSITION
REGULATOR
MOTION
CONTROL
McBASIC
PROGRAM
ARLACON MOTION CONTROL SYSTEM
SERVO DRIVE
Fig. 3.3 Servo control architecture
Additional parameters that may have to be set before using servo control are:
PIDFREQ
Repeat rate of position control algorithm (50...2000), default 400
common for all axes
RESx
Position scale (pulse edges/programming unit
usually mm)
MAXERRx
Maximum servo position error
LIMITTYPEx
Mode of operation for limit switches
DRIVETYPEx
Mode of operation for drive control (REF/ENA)
SPEEDx
The maximum speed used in motion
ACCELx
The acceleration used in motion
FILTERSIZEx
Position reference smoothing filter for generation of limited da/dt
(S-ramp generation)
To study the operation of the parameters in more detail, please refer to the McBasic manual.
As an example of the servo parameter initialization a system might have the following X axis
initialisation in the beginning of a program:
