Function overview
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5.2.8
Load torque compensation for vertical axes
For vertical axis applications, the holding torque at standstill can be determined and stored.
It is then added to the torque control loop and improves the start-up behaviour of the axes after releasing the holding brake.
5.2.9
Positioning and position control
In positioning mode a superordinated positioning controller is active in addition to the speed control, which processes
deviation of the actual position from the set position and converts it into the corresponding setpoints for the speed controller.
The position controller is a P-controller. By default, the cycle time of the position control circuit is twice the speed controller
cycle time. However, it can also be set as an integer multiple of the speed controller cycle time.
When the positioning controller is activated, it receives its setpoints from the positioning or from the synchronisation controller.
The internal resolution is up to 32 bits per motor revolution (depending on the used encoder).
5.2.10
Synchronisation, electronic gearing
The item servo positioning controller C 1-Series allows master-slave operation, which in the following will be called
synchronisation. The controller can serve as master or slave.
If the item servo positioning controller C 1-Series is the master, it can provide the slave with its current rotor position at the
incremental encoder output [X11].
With this information the slave can determine the current position and/or speed of the master via the incremental encoder
input [X10]. Of course it is also possible to derive this information needed for the slave via an external encoder [X2B].
The synchronisation can be activated or deactivated via communication interfaces or via digital inputs.
The speed feed forward can be calculated by the item servo positioning controller C 1-Series itself. All inputs can be
activated/deactivated. The internal encoder can optionally be shut off, if another input is selected as actual-value encoder. This
also applies to speed control mode. The external inputs can be weighed with transmission factors. The different inputs can be
used individually or simultaneously.
5.2.11
Brake management
The item servo positioning controller C 1-Series can directly actuate a holding brake. The holding brake is operated with
programmable delay times. In positioning mode an additional automatic braking function can be activated, which shuts down
the power stage of the item C 1-Series after a parameterized idle time and which lets the brake fall in.
