ElmoMC SimplIQ Software Manual - Manual (Page 140)

SimplIQ Software Manual Unit Modes
MAN-SIMSW (Ver. 1.4)
10-10
Software
position
com m and
Σ
Enable if
RM==1
Auxiliary position
com m and
Stop
m anager
Stop and lim it
switches
Sm oother
d/dt
Position
Controller
FF[2]
Σ Σ
Auxiliary
feedback
encoder
m ain feedback
encoder
Speed
Estim ator
- -
Σ
DV[3]
DV[2]
Speed
Error
d/dt
Acceleration
feed forward
FF[1]
Position
correction
Figure 10-9: Dual Feedback Mode (UM=4)
The position and speed commands are generated by:
ƒ
The position software command generator
ƒ The position auxiliary command generator
ƒ The position stop manager
Generation of the position and speed commands is similar to the position and speed
command generation of UM=5 and is described in
Chapter 12.
The speed command, multiplied by the gain FF[2], is fed as reference to the speed
controller in addition to position correction. Setting FF[2] exactly to the gear ratio
between the position sensor and the speed sensor prevents steady-state constant-speed
tracking errors.
The acceleration of the position command, multiplied by FF[1], can be injected directly as
a torque command. By default, FF[1]=0. The reference values to the position, speed and
torque controllers can be queried by DV[3], DV[2] and DV[1] respectively.