HEIDENHAIN iTNC 530 HSCI - Page 646

February 2012 1 – 647
Speed controller Up to 20 digital speed controllers for the axes and spindles are integrated in the iTNC 530 HSCI.
The actual speed values are measured directly at the motors with HEIDENHAIN rotary encoders. The
position controller provides the nominal speed value. The speed controller is driven by the difference
between nominal and actual speed values. It provides the nominal current value as output.
Figure: Simplified representation of the speed controller
Current controller Up to 20 digital current controllers for the axes and spindles are integrated in the iTNC 530 HSCI.
The nominal values for magnetizing current I
dnom
and torque current I
qnom
are divided into the PWM
signals U
1
, U
2
and U
3
through a PI controller and vector rotator VD+, and are transferred to the power
module through X51 to X60.
Principle of PWM signal generation
The actual current values I
1act
and I
2act
are determined by the power module and are transferred to
vector rotator VD– through X51 to X60. The vector rotator determines the actual values of magnetizing
current I
dActl
and torque current I
qActl
.
Figure: Simplified representation of the current controller
Double-speed
control loops
Double speed control loops operate with shorter controller cycle times.
This makes higher control performance possible, e.g., for high frequency spindles, linear and torque
motors.
noml.
actl.
actl.
actl.
actl.