Etel DSC2P - Page 145

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 145
13.2.1.2 Position reference mode (K61=36):
K61 = 36: Same as K61 = 4, but the actual position is kept as reference when the controller is switched on.
The graph below shows the regulation loop of the position reference mode:
Remark: The external position reference is given in [upi] and [rupi]. Refer to §20.
for more information.
Set up
external
position
reference
K213
Feedforward estimator
Force
calculator
Motor position
Motor position x
Motor speed v
F force supplied by the motor
Integrator
Integrator
Limit
Limit
Limit
1
st
order
filter
1
st
order
filter
Current in phase 1
Encoder
Phase 1
Phase 3
Phase 2
Motor
Speed
estimator
1
st
order
filter (x2)
Current loop : 1, 2 or 3 phases
Fc
Ic
I
1
I
2
K80
K81
K82
K60
K9
K114 K115 K116 K117 K118
K104 K105 K106 K107 K108
K6
K4
K1
K2
K23
K5
K21
K20
Motor commutation
look-up table
Position
calculator
K8
Advanced
filters
K3
Limit
K60
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
X
X
c
X
e
V
c
a
c
sti (refer to §4.)
Regulator: fti (refer to §4.
)
Regulator: cti (refer to §4.
)
Remark: Parameter K82 does not exist on the DSCDL.