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ControlSystem B-3MN1942Figure51 - Servo configuration control structure
POS
VEL
PID PI+ TF PI+ TF PWM
KVEL Universal
Encoder
Interface
Current
Sensors
Current
Conv
Commutation
CURRMEAS
Offset
Comp
+
++
+
++ +--
--
---- TORQUELIMITPOS
TORQUELIMITNEG
CURRENTLIMIT
TORQUEFILTERTYPE
TORQUEFILTERFREQ
TORQUEFILTERBAND
TORQUEFILTERDEPTH
KIPROP
KIINT
KITRACK
EFFORT
DRIVEBUSVOLTS
KACCEL
KVPROP
KVINT
KVTRACK
VELERROR
KVELFF
KPROP
KINT
KINTMODE
KINTLIMIT
KDERIV
FOLERROR
POSDEMAND
VELDEMAND
TORQUEDEMAND
ACCELDEMAND
Torquefilters Limiting
Controlmode
switch
Controlmode
switch
Currentcontrollers Motor
Electricalangle
Encoder
U
V
Temperaturedrift
compensation
Measuredtorque and
magnetisingcurrents
T
P,V
P
V
Velocitycontroller
Positioncontroller
BusVoltage
Measurement
E
Torquecontrol