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MPH-02, MPB-02, MPD-02
Operating mode: cyclic position control
P-0-0187
P-0-0041
S-0-0047
P-0-0047
P-0-0042
S-0-0091
F2037
P-0-0011
P-0-0010
Position Controller
Controller Performance and
Cycle Times
Possibilities of Feedforward
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
S-0-0138
cubic approximation
2x
P-0-0099
bit15
linear fine interpol.
cubic fine interpol.
Fig. 7-10:
Command value processing in position control
See also below "Position Controller"
See also below "Velocity Controller" in section "Velocity Control"
See also below "Current Controller" in section "Torque/Force Control"
The position controller is a simple P-controller, its proportional gain can
be set with the value of S-0-0104, Position loop Kv-factor.
See also figure "Overall structure of control loops" in chapter "Drive
Control"
According to the available performance design, the position control loop is
closed every 250 µs (advanced) or 500 µs (basic) (see P-0-0556, bit 2).
According to the application it is possible to set via bit 3 of the operating
mode parameters (S-0-0032 to S-0-0035):
•
lagless operation
(with velocity feedforward)
•
operation with lag error
(without velocity feedforward)
The lag error is the difference between position command value and
actual position value. The current value is stored in parameter S-0-0189,
Following distance.
Note:
If the mechanical system and the application permit it, lagless
operation should always be selected.
In lagless operation variable acceleration feedforward can be activated in
addition to variable velocity feedforward (P-0-0040, Velocity feedforward
evaluation).
To do this, the acceleration-proportional feedforward component (additive
current command value) is set via parameter S-0-0348, Acceleration
feedforward gain and the velocity-proportional feedforward component
Operating Modes
F2039
position loop
P-0-0556
x
com
P-0-0434
7-19
DF0008v1.fh7
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