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B.1.2 Positioning system without speed controller
Setting CONFIG to _cfTORQUE_SERVO configures the MintDrive
positioning system, as shown in Figure 53. Here, the speed controller is not present and the
position controller performs the task of speed tracking. To achieve this, the position controller
generates a torque demand signal directly. In most positioning applications, the control
structure which includes the speed loop (_cfSERVO) will give superior results. However, in a
few applications where stationary positioning accuracy is the most overriding criteria, removal
of the speed loop can sometimes be beneficial. This mode is also useful for applications which
are designed to stall at known torque while in position control.
Position
reference
Figure 53 - Control structure in Torque Servo (_cfTorqueServo) configuration
B-2 Control System
Position
profiler
Accn
Speed
Position
Position
controller
Torque
demand
PWM
Torque
controller
Measured current
Measured speed
Measured position
www.baldormotion.com
II
to act as a different type of
Power stage
+ motor
MN1901
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