Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
iii
Contents
1 Brief Description ..................................................................................................................................... 1-1
1.1 Brief description ......................................................................................................................... 1-1
2 Detailed Description................................................................................................................................ 2-1
2.1 Velocities, traversing ranges, accuracies ..................................................................................2-1
2.1.1 Velocities.................................................................................................................................... 2-1
2.1.2 Traversing ranges ...................................................................................................................... 2-3
2.1.3 Positioning accuracy of the control system................................................................................ 2-4
2.1.4 Block diagram of resolutions and scaling values....................................................................... 2-5
2.1.5 Input/display resolution, computational resolution..................................................................... 2-6
2.1.6 Scaling of physical quantities of machine and setting data ....................................................... 2-7
2.2 Metric/inch measuring system ................................................................................................. 2-11
2.2.1 General .................................................................................................................................... 2-11
2.2.2 Conversion of basic system by parts program......................................................................... 2-12
2.2.3 Manual switchover of the basic system ................................................................................... 2-16
2.2.4 FGROUP and FGREF ............................................................................................................. 2-20
2.3 Setpoint/actual-value system ................................................................................................... 2-23
2.3.1 General .................................................................................................................................... 2-23
2.3.2 Speed setpoint and actual-value routing ................................................................................. 2-25
2.3.3 Configuration of drives ............................................................................................................. 2-32
2.3.4 Adapting the motor/load ratios................................................................................................. 2-33
2.3.5 Speed setpoint output .............................................................................................................. 2-37
2.3.6 Actual-value processing........................................................................................................... 2-39
2.3.7 Adjustments to actual-value resolution .................................................................................... 2-42
2.4 Closed-loop control .................................................................................................................. 2-49
2.4.1 General .................................................................................................................................... 2-49
2.4.2 Parameter sets of the position controller ................................................................................. 2-54
2.4.3 Extending the parameter set.................................................................................................... 2-56
2.5 Optimization of the control ....................................................................................................... 2-59
2.5.1 Position controller: injection of positional deviation ................................................................. 2-59
2.5.2 Position controller position setpoint filter: new balancing filter ................................................ 2-61
2.5.3 Position controller position setpoint filter: new jerk filter .......................................................... 2-68
2.5.4 Position control with proportional-plus-integral-action controller ............................................. 2-71
2.5.5 System variable for status of pulse enable .............................................................................. 2-73
2.5.6 Expansions for "deceleration axes" ......................................................................................... 2-74
3 Supplementary Conditions...................................................................................................................... 3-1
3.1 Supplementary conditions.......................................................................................................... 3-1
4 Examples................................................................................................................................................ 4-1
4.1 Examples ................................................................................................................................... 4-1
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