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6-2
Drive Control
Closed Loop Axis Control (Closed-Loop Operation)
cmd. value adjustment
(depending on oper. mode)
master
oper. mode 2
oper. mode 1
6.2
Motor Control
General Information on Motor Control
In the case of closed-loop axis control ("closed-loop operation"), closed-
loop drive control with encoder is carried out with position or velocity
feedback. The velocity and position control loops are closed by means of
the encoder feedback.
Motor control in this case takes place as field-oriented closed-loop current
control (see "Field-Oriented Closed-Loop Current Control" in section
"Motor Control").
drive controller
closed-loop drive control
oper. mode n
closed-loop
axis control
Fig. 6-2:
Principle of drive control of closed-loop operation
See also section "Closed-Loop Axis Control (Closed-Loop Operation)" in
the same chapter
See also section "Functional Packages" in chapter "System Overview"
Open-Loop/Closed-Loop Operation
Apart from operation with encoder and field-oriented closed-loop current
control, the IndraDrive firmware supports operation without encoder and
open-loop U/f control.
The motor control method is selected by means of parameter P-0-0045,
Control word of current controller.
P-0-0045; bit 14:
• bit 14 = 1 → open-loop U/f control
• bit 14 = 0 → field-oriented closed-loop current control
See also section "Overview of Drive Control" in the same chapter
MPH-02, MPB-02, MPD-02
closed-loop
motor control
(FOC)
- with encoder -
limitation
torque/current
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
DF000089v01_en.fh7
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