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Parameter conguration
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter conguration
Figure 6.3
p
ref
-
G
Rp
(s)
S-0-0258
S-0-0259
S-0-0260
n
refFF
m
refFF
S-0-0104
P0372
P0344
S-0-0296
S-0-0348
S-0-0051
S-0-0053
P0613
P03142p
G(s)
-
P0371
S-0-0100
S-0-0101
S-0-0040
S-0-0156
P 0351
S-0-0081P 0325
P 0326
P 0327
P0329
P0330
P0331
P0332
P0460
P0458
P0328
P0333
P0334
P0167
P 0320
P 0321
alternative
S-0-0322
GnFF(s)
Gru(s)
GmFF(s)
Torque controlled motor
Block diagram of the position control with position prole generation
Number Description Unit
S-0-0047 Position reference value controller POS
S-0-0051 Position actual value 1 POS
S-0-0053 Position actual value 2 POS
S-0-0258 Target position POS
P 3055 External speed feed forward control VEL
P 3056 External acceleration feed forward control ACC
S-0-0259 Positioning speed VEL
S-0-0260 Positioning acceleration ACC
P 0370 Interpolation
1 = Linear interpolation
2 = External feed forward signals from the SERCOS
master (only with P 3055, P 3056), not for drive-controlled
positioning
3 = Cubic spline interpolation
4 = Cubic spline interpolation II
P 0374 Position reference value delay ms
Table 6.5 Speed control parameters
Number Description Unit
P 0372 Filter time constant speed feed forward control ms
P 0378 Filter time constant speed feed forward control ms
S-0-0296 Speed feed forward control scaling %
Alternatively
S-0-0348 Acceleration feed forward control scaling %
P 0375 Speed feed forward control scaling %
Alternatively
P 0376 Acceleration feed forward control scaling %
P 0377 Feed forward control ON/OFF (is set automatically via the
operation mode)
P 1516 Total moment of inertia kgm^2
P 0279 Position controller control difference (tracking error) POS
S-0-0104 P position controller gain 1/min
Alternatively
P 0360 P position controller gain 1/min
Table 6.5 Speed control parameters
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