Lust MASTERCONTROL MC6000 Series, Инструкция по эксплуатации

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Instruction Manual MC6000
8-2
The MC6000 servocontroller can be operated in three modes:
•
Torque Control (TCON)
•
Speed Control (SCON)
•
Position Control (PCON)
The servocontroller has three control circuits which are superimposed on each other (see
diagram). Depending on the mode, the subordinate control circuits are enabled e.g. in speed
control only the speed controller and torque controller are enabled. The speed reference value
(7) is then supplied directly by the reference value, the position controller (E) is disconnected
and does nothing.
The parameters of the control loops are classified in the PARA menu in three areas _TCON,
_SCON and _PCON. Torque and speed controls are in the form of PI controllers, the position
controller is in the form of a P controller. The gain (P proportion) and the adjustment time (I
proportion) of the individual controllers may be set as parameters in the specific area.
The control circuits are matched automatically to the motor data by downloading the S
MART
C
ARD
which produces excellent results with the specific motor. Tedious fine tuning of controller settings
is a thing of the past. Depending on the application it may be necessary, however, to match one
or two specific parameters, if, for example, the system has a high moment of inertia (
see Section
8.3, item 3 and Section 8.3.1).
Control circuit cycling times:
Torque controller: 125 µs
Speed controller: 250 µs (with optical encoders G1, G2, G3, G4)
500 µs (with resolvers R1, R2, R8)
Position controller
and pre-controller:
500 µs
M
3 ~
G
- - -
B
D C
A
1
2
3
4
5
6
8
9
E
7
No. Function No. Function
A Modulator and power stage D Speed control
B Processing of actual values E Position control
C Torque control
1 Voltage capture 6 Speed actual value
2 Current capture 7 Speed reference value
3 Speed and position signal 8 Position actual value
4 Torque actual value 9 Position reference value
5 Torque reference value