Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Parameters Index.Subindex Name Data type
6104 0x2168.0C Resulting lower limit value torque (closed loop
controller) FLOAT32
6105 0x2168.0D Resulting upper limit value torque (closed
loop controller) FLOAT32
6108 0x2168.10 Resulting lower limit value active current
(closed loop controller) FLOAT32
6109 0x2168.11 Resulting upper limit value active current
(closed loop controller) FLOAT32
6112 0x2168.14 Resulting upper limit value total current
(closed loop controller) FLOAT32
Tab. 371 Objects
6.3 Pilot control (Setpoint value control)
6.3.1 Setpoint value connection
The pilot control (FFC feed forward control) creates the setpoint values for the cascade controller, e. g.
from
–
the timely diversions of the set values
– a constant value (offset)
This ensures that the positioning behaviour of the drive is greatly improved, e. g. a reduction of the
contouring error or improved run-in behaviour to the target position.
The input variables for the pilot control are directly connected to the output variable or are adjusted
using a mathematical operation:
–
Output variables with the same physical meaning are added within the pilot control component.
The respective added value can additionally be influenced by a weighting factor (gain).
– Each mathematical operation with the input variables v (velocity) and a (acceleration) has a decel-
eration member of the first order connected in series. An inactive time member is connected in
series for the position.
A constant value can be stipulated for the weight force compensation.
The following pilot control values are valid for the individual operating modes of the cascade control-
ler. The pilot control also acts in the interpolating operating modes via a fieldbus.
Operating
mode
1)
Input variable Output variable Pilot control
P V T
v v Velocity (default)
·
– –
a M Torque (inertia)
· ·
–
v M Torque (friction)
· ·
–
Control
372 Festo — CMMT-ST-SW — 2019-02