Keba ServoOne junior Device Help

7.5Positioncontrollersettings
Image 7.30: “Configuration of position controller and feed forward control” screen
①
Delaytimeandscalingfortorquepre-control
②
Delaytimeandscalingforspeedpre-control
③
Delaytimeforpositionpre-control
④
Scalingoffrictiontorque
Legend for “Configuration of position controller and feed forward control” screen
The higher the dynamism of the speed controller, the more dynamically the position
controller can be set and the tracking error minimized. The variables for the pre-
control of the speed and position controller are additionally determined either from
the change in reference values or alternatively are already calculated and outputted
by the motion control. The time-related values for the position, speed and torque are
transmitted to the drive control. If the dynamic change in these values is within the
limits which the drive is able to follow dynamically, the load on the controllers is
significantly reduced. In order to improve the dynamism of the position controller, the
following screen is provided to optimize the speed and acceleration pre-control.
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
142
7 Control
ID Index Name Unit Description
276 0 MPRO_FG_UsrActPos mDegree Actualpositioninuserunits
277 0 MPRO_FG_UsrRefPos mDegree Setpointpositioninuserunits
279 0 MPRO_FG_UsrPosDiff mDegree Positiontrackingerrorinuserunits
305 0 CON_PConTS ms Positioncontrolsamplingtime
360 0 CON_PCON_Kp 1/min Positioncontrolgain
Table 7.20: “Position controller” parameters
7.5.1Pre-control
l Thepre-controloftheaccelerationtorquerelievesthestrainonthespeed
controllerandoptimizesthecontrolresponseofthedrive.Tobeabletopre-
controltheaccelerationtorque,themassinertiareferredtothemotorshaft
mustbeknown.Iftheparameterfortheoverallmassinertiaofthesystem
(P 1516[0] - SCD_Jsum)hasavalue≠0,thatvaluewillbeautomatically
usedtopre-controltheaccelerationtorque.
l Thepre-controlofthespeedreferenceissetto100%viaP 375[0] - CON_
IP_SFF_Scale.Thisvalueshouldnotbechanged.
l Theaccelerationtorquepre-controlcanbeoptimizedwithP 376[0] - CON_
IP_TFF_Scale.Reducingthisreducesthepre-controlvalue;conversely,
increasingthisvaluealsoincreasesthepre-controlvalue.
l Thepositiontrackingerrorcanbefurtherreducedbypredictivetorqueand
speedpre-control–thatis,inadvanceofthepositionreferencesetting.
Owingtothetime-discretemodeofoperationofthecontrolcircuitsandthe
limiteddynamismofthecurrentcontrolcircuit,thispredictionisnecessaryto
preventtheindividualcontrolcircuitsfromoscillatingagainstoneanother.
Predictioninpre-controlisachievedbyretardingthereferencesforspeed
andpositioncontrollers.

Keba ServoOne junior Specifications

General

Brand	Keba
Model	ServoOne junior
Category	Controller
Language	English