POSCONTROLLER (149)
POSCONTROLLER (149)
ID 149
|
Application: |
PLC |
Group: MOTION
Short description:
Function that regulates the position of the servo drive.
Inputs (5):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
R |
no |
dacc |
Set acceleration of the drive |
| 2 | R | no | dvel | Set velocity of the drive |
| 3 | R | no | dpos | Set position of the drive |
| 4 | R | no | enc | Current position of the feedback encoder |
| 5 | R | no | intreset | Signal resetting the integral value |
Outputs (1):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
R |
no |
vel |
Output signal that controls rotary speed of the drive |
Settings:
|
no. |
type |
mark |
notes |
|
1 |
R |
MAX_INT |
Integral max value |
| 2 | R | MIN_INT | Integral min value |
| 3 | R | ACCFFG | Feedback signal gain factor forward from acceleration |
| 4 | R | VELFFG | Feedback signal gain factor forward from velocity |
| 5 | R | PROPG | Factor of the proportional gain of the control deviation |
| 6 | R | INTG | Gain factor for the integral of the control error |
| 7 | R | DERIVG | Gain factor for the derivative of the control error |
Function operation:
The POSCONTROLLER function regulates the position of one axis of the servo drive. The structure and use of the regulator are described in more detail in chapter 4 of the User's Manual.
R registers and M markers used:
|
no. |
name |
description |
R - read, W - write |
| R3600 | _Control_Loop_Frequency | Main control loop frequency | R |