MPH-02, MPB-02, MPD-02
Operating Modes
7-19
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
S-0-0047
P-0-0041
P-0-0042
P-0-0187
P-0-0434
P-0-0099
S-0-0091
F2037
P-0-0011
P-0-0010
P-0-0047
P-0-0556
F2039
S-0-0138
position loop
DF0008v1.fh7
Operating mode: cyclic position control
x
com
cubic approximation
linear fine interpol.
cubic fine interpol.
bit15
2x
Fig. 7-10:
Command value processing in position control
See also below "Position Controller"
See also below "Velocity Controller" in section "Velocity Control"
See also below "Current Controller" in section "Torque/Force Control"
Position Controller
The position controller is a simple P-controller, its proportional gain can
be set with the value of
S-0-0104, Position loop Kv-factor
.
See also figure "Overall structure of control loops" in chapter "Drive
Control"
According to the available performance design, the position control loop is
closed every
250
µ
s
(advanced) or
500
µ
s
(basic) (see P-0-0556, bit 2).
According to the application it is possible to set via bit 3 of the operating
mode parameters (S-0-0032 to S-0-0035):
•
lagless
operation
(with velocity feedforward)
•
operation with lag error
(without velocity feedforward)
The lag error is the difference between position command value and
actual position value. The current value is stored in parameter
S-0-0189,
Following distance
.
Note:
If the mechanical system and the application permit it, lagless
operation should always be selected.
In lagless operation variable acceleration feedforward can be activated in
addition to variable velocity feedforward (
P-0-0040, Velocity feedforward
evaluation
).
To do this, the acceleration-proportional feedforward component (additive
current command value) is set via parameter
S-0-0348, Acceleration
feedforward gain
and the velocity-proportional feedforward component
Controller Performance and
Cycle Times
Possibilities of Feedforward
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
