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MSD Servo Drive User Manual SERCOS II
36
Figure 6.3
p
ref
-
G
Rp
(s)
S-0-0258
S-0-0259
S-0-0260
n
refFF
m
refFF
S-0-0104
S-0-0296
S-0-0348
S-0-0051
S-0-0053
2p
G(s)
-
S-0-0100
S-0-0101
S-0-0040
S-0-0156
Torque-controlled
motor
S-0-0081
alternatively
S-0-0322
GnFF(s)
Gru(s)
GmFF(s)
P-0-0458
P-0-0428
P-0-0333
P-0-0334
P-0-0167
P-0-0372
P-0-0344
P-0-0371
P-0-0613
P-0-0314
P-0-0351
P-0-0320
P-0-0321
P-0-0325
P-0-0326
P-0-0327
P-0-0329
P-0-0330
P-0-0331
P-0-0332
P-0-0460
Schematic diagram of position control with position profile generation
Number Description Unit
S-0-0047 Position setpoint - open-loop control POS
S-0-0051 Actual position 1 POS
S-0-0053 Actual position 2 POS
S-0-0258 Target position POS
P-0-3055 External velocity pre-control VEL
P-0-3056 External acceleration pre-control ACC
S-0-0259 Positioning velocity VEL
S-0-0260 Positioning acceleration ACC
P-0-0370 Interpolation method
11 = Linear interpolation
2 = External pre-control signals from SERCOS master (only with
P-0-3055, P-0-3056), not with drive-controlled positioning
3 = Cubic spline interpolation
4 = Cubic spline interpolation II
P-0-0374 Position setpoint delay ms
P-0-0372 Speed pre-control filter time constant ms
Table 6.5 Speed control parameter
Number Description Unit
P-0-0378 Speed pre-control filter time constant ms
S-0-0296 Speed pre-control scaling %
Alternatively
S-0-0348 Acceleration pre-control scaling %
P-0-0375 Speed pre-control scaling %
Alternatively
P-0-0376 Acceleration pre-control scaling %
P-0-0377 Pre-control ON/OFF (set automatically by operation mode)
P-0-1516 Overall mass moment of inertia kgm^2
P-0-0279 Servo drive control difference (tracking error) POS
S-0-0104 P-servo drive gain 1/min
Alternatively
P-0-0360 P-servo drive gain 1/min
Table 6.5 Speed control parameter
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