Baldor MicroFlex e100 - Page 141

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Control System B-5MN1942
Figure 61 - Torque Servo configuration control structure
POS VEL
PID
PI + TF
PWM
KVEL
Universal
Encoder
Interface
Current
Sensors
Current
Conv
Commutation
CURRENTMEAS
Offset Comp
+
+
+
+
++
+
--
--
--
TORQUELIMITPOS TORQUELIMITNEG CURRENTLIMIT
TORQUEFILTERTYPE TORQUEFILTERFREQ TORQUEFILTERBAND TORQUEFILTERDEPTH
KIPROP KIINT KITRACK
EFFORT
DRIVEBUSVOLTS
KACCEL
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
compens ation
Measured torque and
magnetising currents
T
P
Position controller
Bus Voltage
Measurement
E
Torque control