Metronix ARS 2320, Product Manual

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Function overview Page 56
Product Manual „Servo drives ARS 2320, ARS 2340, ARS 2320W, ARS 2360W“ Version 8.0
5.2 Functions of the servo drive ARS 2300
5.2.1 Compatibility
For compatibility reasons, from the user’s point of view, the control structure of the ARS 2300 has
mostly the same characteristics, interfaces and parameters as the previous ARS family.
PWM
E1 E2 M
Position
controller
Speed controller
Current
controller
Output
stage Motor
Angle
encoder 1
and 2
Actual value management
X2A
X2B
X10
Setpoint management
- Analog inputs
- Fixed values
- Synchronisation
- Ramp generator
Positioning and interpolation
Trajectory calculation:
- Position setpoint
- Speed feedforward
- Current feedforward
Figure 7: Control scheme of the ARS 2300
Figure 7
shows the basic control structure of the ARS 2300. Current controller, speed controller and
positioning controller are arranged in a cascade. Due to the rotor-oriented control principle the current
can be set separated in active current (i
q
) and reactive current (i
d
). Therefore there are two current
controllers, both of them PI controllers. To provide a better overview, however, the i
d
controller does
not appear in
Figure 7.
The provided basic modes of operation are torque control, speed control and positioning.
Functions such as synchronisation, “flying saw” and so on are variants of these basic modes of
operation. Furthermore, individual functions of these modes of operation can be combined with each
other, for example torque control with speed limitation.