Function library
7-46
L
EDSVS9332P-D21 EN 3.0
7.5.6 Control structure
The following graph provides an overview of the control structure realised in the 9300 servo position
controller. It shows the parameters and codes that are decisive for the adjustment of the control
loops.
9300POS039
Adjustment points of the control loops
•
Speed controller (PID controller)
– C0070: Gain Vp
n
– C0071: Integral-action time Tn
n
– C0072: Rate time Td
n
(default setting Td
n
= 0 is usually not changed)
– POS-NOUT-GAIN: Master speed control (default setting: 100%)
•
Position controller (P controller)
– C0254: Gain Vp position controller
– MCTRL-P-ADAPT for adapting the gain depending on e.g. the speed
•
Current controller (PI controller)
– C0075: Vp (default setting is usually not changed)
– C0076: Tn (default setting is usually not changed)
Important signals for adjusting the control loops
The following signals are especially suitable for evaluating the positioning behaviour and control
features:
•
POS-NOUT: Speed setpoint, 100 %
≡
n
max
(C0011)
•
MCTRL-NACT: Actual speed value, 100 %
≡
n
max
(C0011)
•
MCTRL-MSET2: Actual torque, 100 %
≡
M
max
(C0057)
•
POS-POUT-NORM: Actual following error, 100 %
≡
Following error tolerance (C1218/1)
Tip!
The codes can be found in the following function library and additionally in table form in part D2.2
of this Manual.
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