Siemens Simovert Masterdrives Compendium page 422

Motion control
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Communication / PROFIBUS
Positioning with
central interpolation
and position control
(standard telegram 3
to 6)
8.2-92
Application class 4
Application class 4 (Figure 2) handles the position control through
PROFIBUS-DP. Drive applications for handling equipment and robot
applications often require a coordinated motion cycle by several drives.
The motion control is mainly implemented via a central automation unit
(NC). These controls calculate special setpoint profiles for each drive, so
that certain tracks can be travelled through the combined action of
several drives (for example for the XYZ axis). The automation system
comprises not only the necessary technology functions for the
automation process but also the functions for interpolation and position
control of the drive. Speed setpoints and actual values and actual
position values are exchanged via PROFIBUS-DP. The drive controller
essentially only comprises the algorithms for speed control and recording
of actual position values. As position control is carried out via the bus
system, this variant places very high demands on the clock
synchronisation of the bus system.
To increase the stiffness and dynamism of the control circuit, the DSC
functionality can be used additionally.
Control word + speed setpoint + ...
Clock
synchronization
Drive
Closed-loop speed
control
M
Encoder
Fig. 8.2-29
Application class 4
Automation
Technology
Interpolation
pos. control
Clock
pulse
Drive
Closed-loop speed
control
M
6SE7087-6QX70 (Version AK)
Compendium Motion Control
Status word + pos.act.value + ...
Drive
Closed-loop speed
control
M
Encoder
Siemens AG
SIMOVERT MASTERDRIVES
09.2008
Encoder

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