Festo MTR-DCI, Руководство пользователя, Страница: 26 / 184

1. System summary
1−8
Festo P.BE−MTR−DCI−IO−EN en 0606b
1.1.1 Method of operation
In the positioning mode, a certain position is specified to
which the motor must move. The current position is obtained
from the information from the internal increment sensor
(optical encoder). The position is derived from the gear
reduction and the shaft pitch.
As supplied from the factory, the actual position will be saved
in a non−volatile memory in the event of a power failure.
Depending on the application this means that if self−locking
drives are used, (new) reference travel will not be necessary
when the device is switched on again.
The deviation of the position is processed in the position
controller and passed on to the speed regulator.
1
Motor controller
2
Regulator
3
Nominal value
generator
4
Position controller
5
Speed regulator
6
Current regulator
7
End stage
8
Signal converter
M
P PI
3
8
4
5 6 7
1
2
P
Fig.1/2: Simplified technical representation of the cascade regulator function
The motor unit takes over the following tasks:
specification of the nominal positions by positioning
control
comparison of the nominal and actual positions and
position control
sequence control via digital inputs and outputs.