HARSFEN0602
The details of the speed and the position controllers are given in the chapter "Error!
Reference source not found.".
11.5 The single feedback mode: UM=5
The single feedback mode is used when the same sensor is used for speed, commutation and
for position. This is a common situation where only one position sensor is installed in the
system.
The block diagram of the single feedback mode UM=5 is depicted below:
Software
position
command
Enable if
RM==1
Auxiliary position
command Stop
manager
Stop and limit
switches
Smoother
d/dt
Position
Controller
FF[2]
main feedback
encoder Speed
Estimator

--

DV[3] DV[2]
Speed
Error, for the
speed controller
d/dt
Acceleration
feed forward
FF[1]
Position
correction
Figure 23: Dual feedback mode (UM=5)
The position and the speed commands are generated by:
The position software command generator
The position auxiliary command generator
The position Stop Manager
The generation of the position and speed commands is described in the chapter on "The
position reference generator".
The speed command, multiplied by the gain FF[2], is fed as reference to the speed controller
in addition to the position correction. When FF[2] is set exactly to unity, there will be no
steady state constant-speed tracking error.
The acceleration of the position command, multiplied by FF[1], can be injected directly as
torque command. By default, FF[1]=0.
The reference values to the position, speed, and torque controllers can be inquired by
DV[3],DV[2], and DV[1] respectively.
The details of the speed and the position controllers are given in the chapter "Error!
Reference source not found.".