Festo Электромотор MTR-DCI - Manual (Page 27)

1. System overview
1-7 Festo P.BE-MTR-DCI-PB-EN en 1209a
1.3 Control and regulating functions
The controller takes over the following tasks:
– Control via FHPP
– Specification of the nominal values
– Regulation of the following variables: position, speed,
acceleration, current.
1
Motor controller
2
Regulator
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. 1/2: Simplified diagram of the cascade controller
Profile position mode Positioning mode
Operating mode for executing a position set or a direct posi-
tioning task with position control (closed loop position con-
trol).
The target position defines the position to which the drive
controller is to move. The target position is interpreted either
as an absolute or relative specification. The set target posi-
tion is transferred to the nominal value generator. This gener-
ates a position nominal value for the position controller. The
current settings for speed, acceleration, braking deceleration,
etc. are taken into account for position control.