Software Manual Owner manual

SimplIQ Software Manual The Controller
MAN-SIMSW (Ver. 1.4)
15-6
15.2.2 Position Controller Parameters
The position controller is implemented as a cascaded loop: The inner loop is a speed
controller and the outer loop is a simple gain. The simple gain operates on the position error
e
POS
(t):
)()()( tkPosFeedbactPosCommandte
POS
−= [counts]
to give [Internal speed units]
)()( teKtCommandPI
POS
Out
P
⋅= /
However, when the position error e
POS
(t) is too large, the gain is modified to avoid
instability and
Out
P
K is replaced by:
))(()))((2)),((min( tesignteabsteabsK
POSPOSPOS
Out
P
⋅⋅⋅⋅ α .
where ]9[2 GS=⋅ α .
This formula ensures that the speed controller is not required to decelerate beyond
 counts/second
2
. GS[9] must be calculated with  as 80% of the highest deceleration the
motor can produce with the current PL[1].
The inner loop is a speed controller, described previously in this chapter.
The parameters of the non-scheduled position controller are:
Parameter Description
KP[3]
Proportional gain,
Out
P
K .
GS[2] Controller gain selector.
GS[9] Acceleration limit.
VL[2], VH[2] Maximum speed command.
VL[3], VH[3] Maximum position command.
FF[2] Speed feed-forward.
UM For UM=4, the position feedback is taken from the auxiliary encoder.
For UM=5, the position feedback is taken from the main encoder.
… All parameters of the speed controller.
Table 15-4: Non-scheduled Position Controller Parameters