MN1942
TORQUEDEMAND
ACCELDEMAND
VELDEMAND
FOLERROR
POSDEMAND
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| Torque control |
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| DRIVEBUSVOLTS |
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KPROP |
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| KACCEL |
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KINT | KVELFF |
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| KVPROP |
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| KIPROP | EFFORT |
KINTMODE |
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| Torque filters | Limiting | KIINT | ||||
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| KVINT |
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KINTLIMIT |
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| KITRACK |
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| VELERROR | KVTRACK |
| T |
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KDERIV |
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| V |
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| + | PWM |
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| P,V |
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| PI + TF | ||
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| PI + TF |
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| P |
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PID |
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Bus Voltage Measurement
Control System B-3
+
+ | Control mode |
| Control mode | TORQUEFILTERTYPE | TORQUELIMITPOS | Current controllers |
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Velocity controller | switch |
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Position controller | switch | TORQUEFILTERFREQ | TORQUELIMITNEG |
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| TORQUEFILTERBAND | CURRENTLIMIT |
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| Electrical angle | TORQUEFILTERDEPTH |
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| Measured torque and |
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| magnetising currents | Current | Offset | |
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U
Motor
Current
CURRMEAS | Conv | Comp |
Commutation | Temperature drift |
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| compensation |
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VEL |
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KVEL |
| Universal |
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| Encoder |
POS |
| Interface |
VSensors
E
Encoder
Figure 51 - Servo configuration control structure
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