Position Feedback And The Actual Position; Linear Versus Rotary Axis - Danfoss iC7 Motion Series Application Manual

Application Guide | iC7 Series Motion
Position Feedback
Source
P 5.13.2.1
Position PID
Demanded
P 5.13.3.1 - 5.13.3.3:
position
Proportional Gain Kp
Integral Time Ti
Derivative Time Td
Demanded
Speed feedforward
speed
P 5.13.3.4:
Speed Feedforward
Gain
Demanded
acceleration
Figure 5: Control Loop in FVC+ Mode with Speed PI Controller

Position Feedback and the Actual Position

2.12.1.4
The position feedback source is selected with parameter 5.13.2.1 Position Feedback Source, and it can be the same as the speed or motor
feedback source, or a separate source.
The position feedback can be relative or absolute. Relative means that only position changes are tracked, and absolute means that
absolute position values are continuously received as feedback.
Position feedback is always relative in sensorless mode or when using an incremental encoder or resolver, and absolute when using an
absolute encoder.

Linear Versus Rotary Axis

2.12.1.5
The axis mode defines how the actual position is handled. The mode can be linear or rotary. The mode is selected with parameter
5.13.4.1 Axis Mode.
In linear mode, the maximum position range is -2147483648 to +2147483647. Within this range, software position limits can be
l
defined with configurable behavior. For more information, see "Software Position Limits".
Linear mode example:
Min position = -1000mm
Max position = 1000mm
-1000mm
Figure 6: Linear Mode Example
In rotary mode, the position range is defined with parameters 5.13.5.4 Min. Position Limit and 5.13.5.5 Max. Position Limit. When
l
reaching 1 of the limits, the value automatically wraps around to the other limit.
© 2023.11
P 5.8.3.1 - 5.8.3.2
Speed limit
Max
+
Min
System
Torque
Inertia
P 5.3.2.3
0
Speed Feedback
Speed PI
P 5.8.2.2
+
Acceleration
feedforward
P 5.8.2.1.4
1000mm
AB318753549016en-000301 / 136R0284 |
Motor control
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