Festo Электромотор MTR-DCI - Manual (Page 33)

1. System overview
1-11 Festo P.BE-MTR-DCI-CO-EN en 1209a
1.4 Control and regulating functions
The controller takes over the following tasks:
– Activation via FHPP or CiA 402,
– Specification of the nominal values
– Control of the following variables: position, speed,
acceleration, current.
1
Motor controller
2
Regulator
3
Nominal
value generator
4
Position
controller
5
Speed regulator
6
Current regulator
7
Output stage
8
Signal converter
M
P PI
3
8
4
5 6 7
1
2
P
Fig. 1/3: Simplified diagram of the cascade regulator
Profile Position Mode Positioning mode
Operating mode for processing a positioning record or a dir-
ect positioning task with position control (closed loop posi-
tion control)
The target position defines the position to which the drive
controller is to run. The target position is interpreted either
as an absolute or relative specification. The set target posi-
tion is transferred to the nominal value generator. This gener-
ates a nominal position value for the position controller. For
position control, the current settings for speed, acceleration,
braking deceleration, etc. are taken into account.