Closed loop
Closed loop | PtP position profile | |
|---|---|
Operating mode: 1: PtP position profile | |
Closed loop Closed loop – Field-oriented control (FOC)
| |
Specification of setpoint position | |
Encoder value normalized to position | |
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 |
Current control | Current 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 – PtP position profile parameters
INFORMATION
0x8280-01 – Setpoint operating mode 1: PtP position profile |
→ |
Start
|
→
|
PtP position profile generator
|
0x8F00-01 – Encoder feedback configuration 3: Closed loop |
PtP – position profile
Start |
→ |
PtP |
→ | Position control Position controller |
Limit Position
|
→
|
Limit Position
|
→
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PtP position profile generator
| |
Position control
Limit Position Position limiting |
→
|
Position control
|
→
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Velocity control Speed controller
|
|
Encoder value | ||||
PtP position profile generator | ||||
Vel – Speed profile
Position control Position controller
|
→
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Velocity
|
→
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Velocity control Speed control
|
Limit – speed limitation
|
→
|
Limit Velocity
|
→
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Velocity control Speed controller
| |
Vel control – speed controller
Limit Velocity Speed limitation |
→
|
Velocity control
|
→
|
Current control Current controller
|
|
Encoder value | ||||
PtP position profile generator | ||||
0x8F00-01 – Encoder feedback configuration
|
Limit Current
|
→
|
Limit Current
|
→
|
Current control Current controller
| |
Current control
Limit Current Current limitation |
→ |
Current control |
→ |
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
|
|
Encoder value | ||||
PtP position profile generator | ||||
Limit Voltage
|
→
|
Limit Voltage
|
→
|
int. PS Internal power stage | |
Internal PS – power output stage, motor, encoder
Limit Voltage Voltage limiting |
→
|
int. PS
|
→
| Motor Encoder 0x8F00-02 – Encoder – Actual value
|
Current control Current controller |
