CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual The Position Loop Position Loop Diagram The CANopen master provides a target position to the amplifier’s internal trajectory generator. In turn the generator provides the position loop a position command and velocity and acceleration limit values. The position loop applies corrective gains in response to feedback to forward a velocity command to the velocity loop. The inputs to the position loop vary with different operating modes. The following diagram summarizes the position loop in position profile mode. Target Position Limits: Max velocity Max accel Max decel Abort decel Trajectory Generator Profile Velocity Profile Acceleration Limited Position + Feedback - Position Loop Velocity Feed Forw ard (Vff) Acceleration Feed Forw ard (Aff) Position Proportional Gain (Pp) Velocity Command 130 Copley Controls + + + Gain Multiplier from motor encoder or resolver from optional position encoder (on load) Trajectory Generator Inputs and Limits The inputs to the trajectory generator include profile position, velocity, and acceleration values. They are accessed through different sets of mode-specific objects as summarized below. Mode Input Object Name/ID Description Page # Homing Homing Method / 0x6098 Defines the method to find the motor home position 184 Profile Position Interpolated Position Homing Speeds / 0x6099 The sub-index objects of 0x6099 hold the two velocities (fast and slow) used when homing. Homing Acceleration / 0x609A Defines the acceleration used for all homing moves. 185 Home Offset / 0x607C Used in homing mode as an offset between the home sensor position and the zero position. Motion Profile Type / 0x6086 Selects the type of trajectory profile to use. Choices are trapezoidal, S-curve, and velocity. Target Position / 0x607A Destination position of the move. 202 Profile Velocity / 0x6081 The velocity that the trajectory generator attempts to achieve when running in position profile mode. Profile Acceleration / 0x6083 Acceleration that the trajectory generator attempts to achieve when running in position profile mode Profile Deceleration / 0x6084 Deceleration that the trajectory generator attempts to achieve at the end of a trapezoidal profile when running in position profile mode. Trajectory Jerk Limit / 0x2121 Defines the maximum jerk (rate of change of acceleration) for use with S-curve profile moves. IP move segment command / 0x2010 Used to send PVT segment data and buffer commands when running in interpolated position mode. 185 185 205 203 204 203 202 214
CANopen Programmer’s Manual 4: Control Loop Configuration Position Loop Inputs Inputs from the trajectory generator to the position loop are described below. Input Object Name/ID Description Page # Instantaneous Commanded Velocity to which the position loop's velocity feed forward gain is 137 Velocity / 0x2250 applied. Instantaneous Commanded Acceleration / 0x2251 Position Command Value / 0x6062 Acceleration to which the position loop's acceleration feed forward gain is applied. Motor position (in units of counts) to which the amplifier is currently trying to move the axis. Position Loop Feedback The feedback to the loop is the actual motor position, obtained from a position sensor attached to the motor (most often a quadrature encoder). This is provided by Position Actual Value object (index 0x6063, p. 137). Position Loop Gains The following gains are used by the position loop to calculate the output value: Gain Description Pp - Position loop proportional The loop calculates its Position Error (index 0x60F4, p. 139) as the difference between the Position Actual Value and the Position Command Value. This error in turn is multiplied by the proportional gain value. The primary effect of this gain is to reduce the following error. Vff - Velocity feed forward The value of the Instantaneous Commanded Velocity object is multiplied by this value. The primary effect of this gain is to decrease following error during constant velocity. Aff - Acceleration feed forward The value of the Instantaneous Commanded Acceleration object is multiplied by this value. The primary effect of this gain is to decrease following error during acceleration and deceleration. These gains are accessed through the sub-index objects of the Position Loop Gains object (index 0x2382, sub-index 1-6, p. 139). Position Loop Output The output of the position loop is a velocity value that is fed to the velocity loop as a command input. This output is associated with two objects, as described below. Output Object Name/ID Description Page # Velocity Command Value / Velocity that the velocity loop is currently trying to attain. In normal 144 0x606B operation, this value is provided by the position loop and is identical to the Position loop control effort. Position Loop Control Effort / Index 0x60FA Optionally, the velocity loop can be controlled by one of several alternate control sources. In this case, the Velocity command value comes from the analog reference input, the digital PWM inputs, or the internal function generator. Normally, this value is provided by the position loop. When the velocity loop is driven by an alternate control source, the Position loop control effort object does not hold a meaningful value. Modulo Count (Position Wrap) The position variable cannot increase indefinitely. After reaching a certain value the variable rolls back. This type of counting is called modulo count. See bit 21 of the Manufacturer Status Register object (index 0x1002, p. 60). Copley Controls 131 137 137 139
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