ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 294)

8.3. The Position Controller
8.3.1 Block Diagram
The position controller comprises a proportional gain, cascaded over the speed
controller. The block diagram is given in the following figure.
Position
command
DV[3]
Σ
KP
GS[2] and speed select KP
and KI to use
High order
filter (RFFI)
[2]
d
FF
dt
Σ
Speed
command
DV[2]
Main Position & time sensor data
-
UM=5
Aux Position & time sensor data
UM=4
pos
e
GS[9]
•
Abs
≤
×
Sign()
x
x
1
x
2
GS[10]
Σ
Speed reference
for gain scheduling
HL[3]
pos
e
LL[3]
Exception 0x100
Exception 0x100
Position
Feedback
ER[3]
≥
≥
≥
Figure 8-19: Position Controller Block Diagram
SimplIQ for Steppers Application Note The Position and Speed Controller
MAN-STECR (Ver. 1.1)
95