Festo Электромотор MTR-DCI - Manual (Page 37)

1. System overview
1-15 Festo P.BE-MTR-DCI-DN-EN en 1209a
1.4 Control and regulation functions
The controller essentially performs the following tasks:
– Controlling via FHPP
– Specifying the nominal values
– Regulation of the following variables: position, speed,
acceleration, current.
1
Motor controller
2
Closed-loop
controllers
3
Nominal
value generator
4
Position
controller
5
Speed regulator
6
Current regulator
7
Output stage
8
Signal converter
M
P PI
3
8
4
5 6 7
1
2
P
Fig. 1/3: Simplified diagram of the cascade controller
Profile position mode Position mode
Operating mode for executing a positioning record or a direct
positioning task with position control (closed loop position
control)
The target position defines the position that the drive con-
troller should move to. The target position is interpreted as
either an absolute or relative value. The set target position is
passed to the nominal value generator. This then generates a
nominal position value for the position controller. For posi-
tion control, the current settings for speed, acceleration,
braking delay, etc. are taken into account.