Function overview
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The position controller is a P controller. By default, the cycle time of the position control loop 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 position controller is activated, it receives its setpoints from the positioning control system or from the
synchronisation control system. The internal resolution is up to 32 bits per motor revolution (depending on the encoder).
5.2.10
Synchronisation, electronic gear unit
The item Servo Positioning Controller C 3-Series can be used in a master-slave configuration, hereinafter referred to as
"synchronisation". The controller can be a master or a slave.
If the item Servo Positioning Controller C 3-Series is the master, it can provide the slave with its current rotor position via 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]. 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 the communication interfaces or via digital inputs.
The item Servo Positioning Controller C 3-Series can calculate the speed forward control independently. All of the inputs can
be activated/deactivated. As an option, the internal encoder can be shut off if another input is selected as the actual value
encoder. This applies also to the speed control mode. The external inputs can be weighted with gear factors. The inputs can be
used individually or simultaneously.
5.2.11
Brake management
The item Servo Positioning Controller C 3-Series can directly actuate a holding brake. The holding brake is operated with
programmable delay times. In the positioning mode, an additional automatic braking function can be activated. This automatic
braking function switches the power output stage of the item C 3-Series off after a parameterised idle time and engages the
brake.
