Motor Power Company DUET_FL 48/10, User Manual

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Page 61
5 Positioning mode
You can skip this chapter if your drive is used only in speed or torque mode.
5.1 Function overview
In the positioning mode, a positioning control is superimposed on the speed control. In the positioning
mode, a specified position is set. The motor has to move to this position automatically, i.e. without any
interaction with an external control system. In this operating mode, the controller cascade in the
DUET_FL controller will be extended as shown in Figure 6.
•
The position controller is a proportional controller (short: P-controller). The current position is
determined using the information of the internal encoder evaluation. The position deviation is
processed in the position controller and passed on to the speed controller as a speed setpoint.
•
A trajectory generator computes the motion profile needed to reach the target based on the current
position and on the current speed. It provides the position setpoint for the position controller and a
pilot speed for the speed controller to improve the control dynamics in the event of rapid
positioning processes.
•
The positioning control provides numerous messages required for the external control system, e.g.
a target-reached messages and a following error message.
position
controller
+
trajectory generator
-
speed set
point
position set
point
x actual
speed feed
forward
target reached
POS
position
parameter
temp. data set
start
positioning
remaining distance
message
correction speed
dead range
following error
monitoring
following error
Position Parameter of:
- positioning unit
- filedbus (CAN)
- homing
- course program
Figure 6: Positioning control block diagram
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company