6-40
Drive Control
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
In velocity control:
•
S-0-0037, Additive velocity command value
•
S-0-0081, Additive torque/force command value
In current control:
•
S-0-0081, Additive torque/force command value
fine
interpolator
position
loop
velocity
loop
current
loop
dx/dt
S-0-0081
S-0-0100
S-0-0101
S-0-0037
S-0-0104
S-0-0048
S-0-0047
interface for master communication
interface for master communication
position
cmd value
additive
position
cmd val.
additive
current
cmd val.
additive
velocity
cmd val.
controller
setting
DF000043v02_en.fh7
master
drive
controller
motor
encoder
PWM
-
+
-
+
-
+
output stage
multiple-axis
interpolation
compensation or
feedforward algorithm
master
communication
S-0-0037:
additive velocity command value
S-0-0047:
position command value
S-0-0048:
position command value additional
S-0-0081:
additive torque/force command value
S-0-0100:
velocity loop proportional gain
S-0-0101:
velocity loop integral action time
S-0-0104:
position loop Kv-factor
Fig. 6-27:
Structural overview (incl. possibilities of access)
Command Value Processing Depending on Operating
Mode
In the case of the following operating modes, the position control loop,
apart from the velocity and current control loop, is closed internally (in the
drive), too:
•
position control with cyclic command value input
•
drive-internal
interpolation
•
drive-controlled
positioning
See also description of the respective operating mode in chapter
"Operating Modes"
In the "velocity control" mode the velocity control loop, apart form the
current control loop, is closed in the drive, too.
See also "Velocity Control" in chapter "Operating Modes"
Position Control
Velocity Control
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
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426-5480
▪
www.cmafh.com
