MN1942
Control
TORQUEDEMAND
ACCELDEMAND
VELDEMAND
KPROP
KINT
KINTMODE
FOLERROR KINTLIMIT
KDERIV
POSDEMAND
PID
+
Position controller
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| Torque control |
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| DRIVEBUSVOLTS |
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KVELFF | KACCEL |
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| KIPROP | EFFORT |
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| KIINT |
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| Torque filters | Limiting |
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| KITRACK |
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+ | + |
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| PI + TF | PWM |
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P |
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+ | + | Control mode |
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Control mode |
| TORQUEFILTERTYPE | TORQUELIMITPOS |
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| TORQUEFILTERFREQ | TORQUELIMITNEG |
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switch |
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| TORQUEFILTERBAND | CURRENTLIMIT |
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| Electrical angle | TORQUEFILTERDEPTH |
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| magnetising currents |
| Current | Offset | U | Current | ||
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| Conv | Comp | Sensors | |
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| CURRENTMEAS |
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| Commutation |
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| Temperature drift |
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| compensation |
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KVEL |
| VEL |
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| Universal |
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| E | |
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| Encoder |
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| POS |
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| Interface |
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| Encoder |
System B-5
Figure 52 - Torque Servo configuration control structure
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