User manual

Publication 2092-UM001D-EN-P — July 2005
5-40 Ultra1500 Application Examples
Position Regulator
Figure 5.20 shows the block diagram of the position regulator in the Ultra1500
Figure 5.20
Position Regulator Block Diagram
The Ultra1500 uses a fixed frequency (5 kHz) to sample data and perform
computations (i.e., the sample or update rate is 200 µs). A z
-1
block in the
figure indicates a delay of one update period, or 200 µs. This implies that any
signal multiplied by a z
-1
block will use the signal from the previous update in
the calculation for the current update.
z
-1
-
+
z
-1
+
K
gear
K
gear
+
-
K
ff
+Offset
-Offset
0.0
K
'
p
+
+
+
+
1
Sampled
Master
Position
Command
Sampled
Follower
(Motor)
Position
Feedback
2
3
4 7
5
1
2
3
Block/Switch Definitions:
1 Mode Configuration : Follower : Gear Ratio
2 Tuning Window : Main Position Regulator Gains : K
ff
3 Tuning Window : Main Position Regulator Gains : K
ff
Low Pass Filter Bandwidth
4 Tuning Window : Main Position Regulator Gains : K
p
5 Tuning Window : Main Position Regulator Gains : High Error Output Threshold
6 Tuning Window : Main Position Regulator Gains : High Error Output Offset
7 Velocity command limt to motor rated speed
4
6
Signal Definitions:
1 Delta position command (velocity command): master counts
2 Velocity command: follower counts
3 Delta position : follower counts. Fractional counts are managed here for a lossless conversion.
4 Position command : follower counts
5 Position Error : follower counts
5
Velocity
Command
To Velocity
Regulator
1
Block/Switch definitions shown in Figure 5.20 refer to the Ultraware parameter names where applicable.