Block Diagram Of The Position /Speed Controller When In Position Control (18.4 = 12) - Baumuller b maXX BM3000 Operating Manual

4.7
Controllers
Block diagram of the position /speed controller when in position control:
Controller actual operating mode
w3 Feedforward external
w2 Feedforward
Controller
external
options
w2 Speed
18.9 1 set value
bit 3
(18.69)
0
Position set value
(18.11)
*
Position error
Position
angle
set value
(18.61)
(18.58 and
18.59)
Position error
-
revolution
Position
(18.62)
actual value
(18.12)
*
*
: Conversion
Position actual value
(18.55 and 18.56)
Figure 143:
444 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
Gear
factor
(18.16)
Feedforward Gear
time constant factor
(18.70) (18.16)
Feedforward
(18.15)
factor
w2 speed feed forward
(18.17)
Position
controller
Kv (18.14)
output
(18.31)
*
e1
Position
controller error
Speed
(18.13)
set value
additional
(18.69)

Block diagram of the position /speed controller when in position control (18.4 = 12)

Z18.4–
= 12
w3 Feedforward
time constant
(18.39)
Controller
options (18.9)
1
bit 2
0
w3 Feedforward
time constant (18.39)
Time constant
(18.33)
-
w2
Speed
Speed
limit
set value
(18.71,
Speed
(18.21)
18.72)
actual value
(18.22)
3300_0061_rev03_int.cdr
Feedforward
Feedfwd.
brake
Acceleration
(18.36)
(18.37)
bit 1
Actual
0
factor
(18.38)
1
Acceleration
set value
(18.35)
Speed controller
Speed error
output (18.32)
(18.23)
Speed controller
Ks/Kt
Friction compensation
output value
(154.8)
Baumüller Nürnberg GmbH
Ks (18.40)
(18.45)
1/Ks