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Description of Functions
Position
The following error is calculated by periodical comparison of the set position
Comparitor
defined by the interpolator with the actual position of the axis detected by the
encoder.
Following error = Set position – Actual position
Position Controller
The position controller generates an actuating signal that is required for cali-
brating to the following error zero value from the following error of the posi-
tioning loop that is generated by the position comparitor. The actuating signal
represents a speed setpoint value that is transferred to the actuating signal
driver. The position controller is a proportional-action controller that operates
according to the following principle:
Internal velocity setpoint = Following error Positioning loop amplification
Here, the positioning loop amplification determines the effect of a specific
following error on the generation of the actuating signal for the drive to be
actuated.
Positioning loop amplification
The positioning loop amplification (K
travel a given following error sets in. The mathematical (proportional) rela-
tionship is:
K
Although the magnitude of the following error plays no dominant role for a
single axis, the K
of the axis:
9-76
Speed
=
=
v
Following error
factor still affects the following important characteristics
v
Positioning accuracy and stopping control
Uniformity of movement
Positioning time
factor) specifies at what speed of axis
v
3
v [10
MSR/min]
∆s [MSR]
FM 453 Servo Drive / Step Drive Positioning Module
C79000-G7076-C453-01
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