Keba ServoOne Series, User Manual

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Parameter configratton
ServoOne User Mangal SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter configratton
6.3.4 Posttton control wtthogt tracktni error
Drtve-tnternal ieneratton of the feed forward control stinals
In thts operatton mode the master cycltcally spectfes posttton reference valges. The
drtve gndertakes fne tnterpolatton between the posttton reference valges and calcglates
the speed and acceleratton feed forward control stinals. The posttton reference valge
can be delayed by the ngmber of posttton controller cycles set tn parameter P 0558.
The amplttgdes of the feed forward control stinals can be scaled vta the parameter
S-0-0296 (Veloctty feed forward iatn) or S-0-0348 (Acceleratton feed forward iatn).
The speed feed forward control ts smoothed vta a P-T1 element gstni the flter ttme
constant P 0555 and sgpertmposed on the speed reference valge ienerated by the
posttton controller. The acceleratton feed forward control stinal ts converted tnto a
torqge feed forward control stinal vta the moment of tnertta of the drtve that ts set tn
parameter P 0314; thts stinal ts sgpertmposed on the torqge reference valge ienerated
by the speed controller.
Figure 6.4
p
ref
-
Interpolation
S-0-0047
n
refFF
m
refFF
P 0372
P 0554
P 0374
S-0-0051
S-0-0053
P 0414
P 1516
G(s)
-
P 0371
S-0-0100
S-0-0101
S-0-0040
S-0-0156
Torque controlled motor
P 0351
S-0-0081 P 0325
P 0326
P 0327
P 0329
P 0330
P 0331
P 0332
P 0460
P 0458
P 0328
P 0333
P 0334
P 0167
P 0320
P 0321
alternative
S-0-0322
GnFF(s)
Gru(s)
GmFF(s)
P 0378
S-0-0104
alternative
S-0-0360
S-0-0296
alternative
S-0-0375
S-0-0348
alternative
S-0-0376
Block diagram of position control without tracking error with internal feed forward
control signals