Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke
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Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

kuhnke
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Fuxx Control ARS 2320 / ARS 2340 KUHNKE Automation 5.2.8 Load torque compensation in the case of vertical axes In the case of vertical-axis applications, the holding torque during standstill can be measured and saved. It is then used in the torque control circuit and improves the start-up behavior of the axis after the holding brake has been released. 5.2.9 Positioning and position control In positioning mode, a superordinated position controller is active in addition to the speed control. This position controller processes the deviation of the actual position from the set position and converts it into the corresponding setpoints for the speed controller. The position controller is a P-controller. By default, the cycle time of the position control circuit is twice the speed controller cycle time. However, it can also be set as an integer multiple of the speed controller cycle time When the position controller is activated, it receives its setpoints from the positioning or synchronization controller. The internal resolution is up to 32 bits per motor revolution (depending on the encoders used). The setpoint management system also allows setpoints to be set in MDC programs. 5.2.10 Synchronization, electrical transmission The ARS 2300 servo positioning controller can be used in a master-slave configuration hereinafter called synchronization. The controller can be a master or a slave. If the ARS 2300 servo positioning controller is used as a master, it can supply the slave with its current rotor position via the incremental encoder output [X11]. If the ARS 2300 servo positioning controller (used as a master) is equipped with a communication interface, it can transmit either its current position, speed or both values. If the ARS 2300 servo positioning controller is used as a slave, several inputs are available for synchronization. An incremental encoder (position synchronization via [X10] with speed feedforward for the speed controller) or the communication interface can be used as inputs. The ARS 2300 servo positioning controller can automatically calculate the speed feedforward. All inputs can be activated/deactivated. The internal encoder can be deactivated if another input is selected as actual value encoder. This also applies to the speed control mode. The external inputs can be weighed with transmission factors. The inputs can be used individually or simultaneously. 48 E 732 GB 14.12.2006

KUHNKE Automation Fuxx Control ARS 2320 / ARS 2340 5.2.11 Brake management The ARS 2300 servo positioning controller can directly control a holding brake. The holding brake is actuated with programmable delays. In positioning mode, an additional automatic braking function can be activated, which shuts down the power stage of the ARS 2300 servo positioning controller after a parameterized idle time and lets the brake fall in. This mode of operation is compatible with the functions of the previous ARS product range. 5.3 Positioning control 5.3.1 Overview In positioning mode, a certain position is set and the motor has to move to this position. The current position is determined using the information of the internal encoder evaluation. The position deviation is processed in the position controller and passed on to the speed controller. The integrated positioning control system allows jerk-limited or time-optimal positioning, either relative or absolute with regard to a reference point. It provides the position controller and - to improve the dynamic behavior - also the speed controller with setpoints. During absolute positioning, a predefined target position is directly approached. During relative positioning, the parameterized route is traveled. The positioning range of 2 32 full revolutions allows any number of relative positioning runs in one direction. The positioning control system is parameterized using a target table. This table includes entries for the parameterization of a target via a communication interface and also target positions which can be retrieved via the digital inputs. For each entry it is possible to set the positioning mode, the driving profile, the acceleration and deceleration times and the maximum speed. All targets can be preparameterized. All the user has to do during positioning is to select the desired entry and to give out a start command. However, the target parameters can also be changed online via the communication interface. The maximum number of storable position sets is 256 in the case of the ARS 2300 servo positioning controller. The following settings can be made for all position sets: � Target position � Driving speed � Final speed � Acceleration � Deceleration � Torque feedforward � Remaining distance message E 732 GB 49 14.12.2006

KUHNKE Automation <strong>Fuxx</strong> <strong>Control</strong> <strong>ARS</strong> <strong>2320</strong> / <strong>ARS</strong> <strong>2340</strong><br />

5.2.11 Brake management<br />

The <strong>ARS</strong> 2300 servo positioning controller can directly control a holding brake. The holding brake is<br />

actuated with programmable delays. In positioning mode, an additional automatic braking function can<br />

be activated, which shuts down the power stage of the <strong>ARS</strong> 2300 servo positioning controller after a<br />

parameterized idle time and lets the brake fall in. This mode of operation is compatible with the<br />

functions of the previous <strong>ARS</strong> product range.<br />

5.3 Positioning control<br />

5.3.1 Overview<br />

In positioning mode, a certain position is set and the motor has to move to this position. The current<br />

position is determined using the information of the internal encoder evaluation. The position deviation<br />

is processed in the position controller and passed on to the speed controller.<br />

The integrated positioning control system allows jerk-limited or time-optimal positioning, either relative<br />

or absolute with regard to a reference point. It provides the position controller and - to improve the<br />

dynamic behavior - also the speed controller with setpoints.<br />

During absolute positioning, a predefined target position is directly approached. During relative<br />

positioning, the parameterized route is traveled. The positioning range of 2 32<br />

full revolutions allows any<br />

number of relative positioning runs in one direction.<br />

The positioning control system is parameterized using a target table. This table includes entries for the<br />

parameterization of a target via a communication interface and also target positions which can be<br />

retrieved via the digital inputs. For each entry it is possible to set the positioning mode, the driving<br />

profile, the acceleration and deceleration times and the maximum speed. All targets can be preparameterized.<br />

All the user has to do during positioning is to select the desired entry and to give out a<br />

start command. However, the target parameters can also be changed online via the communication<br />

interface.<br />

The maximum number of storable position sets is 256 in the case of the <strong>ARS</strong> 2300 servo positioning<br />

controller.<br />

The following settings can be made for all position sets:<br />

� Target position<br />

� Driving speed<br />

� Final speed<br />

� Acceleration<br />

� Deceleration<br />

� Torque feedforward<br />

� Remaining distance message<br />

E 732 GB 49<br />

14.12.2006

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