Lenze PM94P01C - Manual (Page 126)

PM94P01C 124
Reference
3.4 PositionServo Reference Diagrams
This section contains the process flow diagrams listed in Table 69. These diagrams are for reference only.
Table 69: PositionServo Process Flow Diagrams
Drawing # Description
S999 Position and Velocity Regulator
S1000 Motion Commands -> Motion Queue -> Trajectory Generator
S1001 Current Command -> Motor
S1002 Encoder Inputs
S1003 Analog Inputs
S1004 Analog Outputs
S1005 Digital Inputs
S1006 Digital Outputs
Position and Velocity Regulators
Position
Command
Kff term
Biquad
Convergence
Filter
Biquad
Convergence
Filter
Velocity
Estimator
Secondary
Encoder
Primary
Encoder
Current
Limiter
I term Limit and
unti wind-up
I term Limit and
unti wind-up
P term
D term
I term
=0
=1
+
-
+
+
+
+
+
+
-
P term
D term
Velocity
Window
#41 Second Encoder
Position Feedback
Mechanical Velocity Feedback
Velocity Command
To Torque Amplifier
Current Command
Kff is automatically calculated
+
+
+
-