Festo MTR-DCI-...IO Series, Description, Page: 25 / 182

1. System summary
1-7
Festo P.BE-MTR-DCI-IO-EN en 1209d
1.3 Control and regulating functions
The controller takes over the following tasks:
– specification of the nominal values
– regulation of the following factors: Position, speed, accel-
eration, current.
1
Motor controller
2
Regulator
3
Setpoint
value generator
4
Position control-
ler
5
Velocity control
6
Current control
7
Output stage
8
Signal converter
M
P
PI
3
8
4
5 6 7
1
2
P
Fig. 1/2: Simplified diagram of the cascade regulator
Profile position mode Positioning mode
Operating mode for executing a position set or a direct posi-
tioning task with position control (closed loop position con-
trol).
The target position defines the position to which the drive
controller is to move. The target position is interpreted either
as an absolute or relative specification. The set target posi-
tion is transferred to the setpoint value generator. This gen-
erates a setpoint position value for the position controller.
For position control the current settings for speed, accelera-
tion, braking deceleration, etc. are taken into account.