Control Structure - Lenze 9300 Series System Manual

Function library
Positioning control
3.4.6

Control structure

3.4.6 Control structure
The following graphic representation provides an overview of the control structure realised in the
9300 servo position controller. It shows the parameters and codes that are decisive for the
adjustment of the control loops.
SETPOS
Enc
optional
Adjustment points of the control loops
l
Speed controller (PID controller)
– C0070: Gain Vp
– C0071: Integral−action time Tn
– C0072: Rate time Td
– POS−NOUT−GAIN: Speed feedforward control (default setting: 100%)
l Position controller (P controller)
– C0254: Gain Vp position controller
– MCTRL−P−ADAPT for adapting the gain depending on e.g. the speed
l
Current controller (PI controller)
– C0075: Vp (default setting is usually not changed)
– C0076: Tn (default setting is usually not changed)
3−42
POS
+
(-)
NOUT-GAIN
NOUT
MOUT-GAIN
(MOUT)
actual
position
C0490 Feedback systems
n
(default setting Td
n
EDSVS9332P−EXT DE 2.0
C0254
Vp
MCTRL-P-ADAPT
+
+
+
(-)
actual
speed
C0495
n
= 0 is usually not changed)
n
Vp
C0075 C0076
Vp
C0070
Curent control
C0071
Tn
C0072 Td PWM
+
+
Tn
9300POS039
l