Closed loop
Closed loop | Synchronous positioning | |
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Operating mode: 8: Synchronous positioning | |
3: Closed loop (FOC) | |
Specification of setpoint position It can also be specified via the dynamically assigned word 4 in the output area. (See chapter OSS21C function module) | |
Encoder value | |
Closed loop has the following features:
- The function module operates with closed-loop control using a cascaded controller structure.
- The encoder signal is taken into account by the controller.
- The setpoint for the current controller is generated by the higher-level closed loop system.
- The actual position corresponds to the encoder value, normalized to position.
- An encoder value is output. For further information, refer to chapter Closed loop – Field-oriented control (FOC).
Structure
Start | Start parameter |
Limit Position | Position limiting |
Limit Voltage | Voltage limiting |
Position control | Position controller |
PI control | PI current controller |
M | Motor |
Limit Velocity | Speed limitation |
Limit Current | Current limitation |
PtP | PtP position profile |
Velocity control | Speed controller |
int. PS | Internal power stage |
Encoder | Actual encoder value |
Start – Synchronous positioning parameters
INFORMATION
0x8280-01 – Setpoint operating mode 8: Synchronous positioning |
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Start
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Position control Position controller
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0x8F00-01 – Encoder feedback configuration 3: Closed loop |
Limit Position
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Limit Position
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Position control Position controller
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Position control
Limit Position Position limiting |
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Position control
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Velocity control Speed controller
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Encoder value | ||||
Start | ||||
Vel – Speed profile
Position Control Position controller
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Vel
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Vel control Speed control
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Limit – speed limitation
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Limit Velocity
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Velocity control Speed controller
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Vel control – speed controller
Limit Velocity Speed limitation |
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Velocity control
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Current control Current controller
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Encoder value | ||||
PtP position profile generator | ||||
0x8F00-01 – Encoder feedback configuration
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Limit Current
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Limit Current
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Current control Current controller
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Current control
Limit Current Current limitation |
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Current control |
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int. PS Internal power stage
0x8600-02 – Current – Actual value 0x8600-10 – Current – Actual value of winding A 0x8600-11 – Current – Actual value of winding B 0x8600-12 – Current – Setpoint of winding A 0x8600-13 – Current – Setpoint of winding B
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0x8F00-02 – Encoder – Actual value Encoder value | ||||
Velocity control Speed controller | ||||
Limit Voltage
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Limit Voltage
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int. PS Internal power stage | |
Internal PS – power output stage, motor, encoder
Limit Voltage Voltage limiting |
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int. PS
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| Motor Encoder 0x8F00-02 – Encoder – Actual value
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Current control Current controller |
