HEIDENHAIN iTNC 530 Service Manual page 652

6, 10 or 12 digital speed controllers for the axes and spindles are integrated in the iTNC 530:
The speed
controller
The actual speed values are measured directly at the motors with HEIDENHAIN rotary encoders.
The position controller provides the nominal speed value. The speed controller is driven by the
difference between nominal and actual speed values. It provides the nominal current value as
output.
Figure: Simplified illustration of the speed controller
6, 10 or 12 digital current controllers for the axes and spindles are integrated in the iTNC 530:
The current
controller
The nominal values for magnetizing current I
PWM signals U
to the power module through X51 to X60.
Principle of the generation of PWM signals --> See "PWM Signals" on page 1 – 654.
The actual current values I
to vector rotator VD– through X51 to X60. The vector rotator determines the actual values of
magnetizing current I
Figure: Simplified illustration of the current controller
1– 652
, U and U through a PI controller and vector rotator VD+, and are transferred
1 2 3
and I are determined by the power module and are transferred
1act 2act
and torque current I
dist
and torque current I
dnom qnom
.
qnom
HEIDENHAIN Service Manual iTNC 530
are divided into the