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User manual SID116 – 09.04.2015r. v.1.0 page 30
Picture. 22. Regulator structure
At SID116 driver is implemented sequence position regulator. This type of regulator consist of three regulation
loops responsible for separate physical quantity. Regulators are connected to each other creating a sequence.
This means that input of slave regulator is controlled by output of master regulator. SID116 driver regulator
consist of current, velocity and position regulator. Position regulator input is set position. Position regulator
output is connected to velocity regulator. Velocity regulator controls current regulator input. Due to regulator
topology, adjustment should be started from current regulator. While drive is equipped with encoder first of all
velocity regulator should be adjusted, then position regulator.
CAUTION!
While using current/velocity/position regulation modes driver requires adjustment of regulator
parameters for correct operation.
5.3.2
Driver exemplary configuration.
Parameters as below are presented for following set:
Table 5. Set, for which are presented parameters
Motor
Buehler 1.13.044.413
Rated current: 7 A
Rated voltage: 12 V
Rated velocity: 3000 rpm
Encoder
MHK40, 3000 pulses per revolution
Gear
None
Brake
None
Load
Constant, inertia 250 g/cm
2
Picture. 23. Motor and encoder parameter configuration
Picture. 24. Regulator settings
