Baldor MicroFlex e100 - Page 139

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Control System B-3MN1942
Figure 60 - Servo configuration control structure
POS VEL
PID
PI + TF
PI + TF
PWM
KVEL
Universal
Encoder
Interface
Current
Sensors
Current
Conv
Commutation
CURRMEAS
Offset Comp
+
+
+
+
++
+
--
--
----
TORQUELIMITPOS TORQUELIMITNEG CURRENTLIMIT
TORQUEFILTERTYPE TORQUEFILTERFREQ TORQUEFILTERBAND TORQUEFILTERDEPTH
KIPROP KIINT KITRACK
EFFORT
DRIVEBUSVOLTS
KACCEL
KVPROP KVINT KVTRACK
VELERROR
KVELFF
KPROP KINT KINTMODE KINTLIMIT KDERIV
FOLERROR
POSDEMAND VELDEMAND TORQUEDEMAND ACCELDEMAND
Torque filters
Limiting
Control mode
switch
Control mode
switch
Current controllers Motor
Electrical angle
Encoder
U V
Temperature drift
compensation
Measured torque and magnetising currents
T
P, V
P V
Velocity controller
Position c ontroller
Bus Voltage
Measurement
E
Torque control