Efficient Networks S120 manual Closed-loop position control, General features, KT estimator

Function modules 7.8 Closed-loop position control

kT estimator:

●p1752 Motor model, changeover speed operation with encoder

●p1795 Motor model PEM kT adaptation smoothing time

●r1797 Motor model PEM kT adaptation correction value

Compensation of the voltage emulation error of the drive converter:

●p1952 Voltage emulation error, final value

●p1953 Voltage emulation error, current offset

7.8Closed-loop position control

7.8.1General features

The position controller essentially comprises the following parts:

●Position actual value conditioning (including the lower-level measuring probe evaluation and reference mark search)

●Position controller (including limits, adaptation and the pre-control calculation)

●Monitoring functions (including standstill, positioning, dynamic following error monitoring and cam signals)

●There is still no position actual value conditioning for distance-coded measuring systems.

●Position tracking of the load gear (motor encoder), using absolute encoders for rotary axes (modulo) as for linear axes.

7.8.2Position actual value conditioning

7.8.2.1Features

●Correction value (p2512, p2513)

●Setting value (p2514, p2515)

●Position offset (p2516)

●Position actual value (r2521)

●Velocity actual value (r2522)

●Motor revolutions (p2504)

●Load revolutions (p2505)

●Spindle pitch (p2506)

●Position tracking (p2720ff)

Drive Functions	237
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4