Mass on timing belt position control

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I am a trainee who is new to Automation studio and is working on a project which involves positioning a mass over a given trajectory with max speed of 1m/s and a precision of 0.3mm on a vertical belt drive. The company which I am working for wants me to achieve this accuracy without using sensors other then the absolute encoder of my drive (bshf302 cm3c63m-45a-p/pk/ah1e/se1 synchronous motor). The solution which I think would be able to achieve this accuracy is a PID position control with the possibility of a feedforward.

How do I go about implementing a position control with PID and feedforward in Automation studio?
Overview of all hardware components included in my current Automation studio configuration:

1. CPU / Control System

  • X20CP0484

2. Power Supply & Base Unit

  • X20PS9400

  • X20BB12

3. I/O Modules

  • X20DI9371

  • X20DO9322

4. Motion System

Servo Drive

  • ACOPOS 8V1016.00‑2

Servo Motor

  • BSHF302 (CM3C63M‑45A‑P/PK/AH1E/SE1)

    • Synchronous servo motor

    • Equipped with an absolute encoder

    • Directly controlled by the ACOPOS servo drive

5. Communication Modules

  • X20IF10E3‑1

  • X20CS1030

6. Additional Interfaces

  • USB interface

Total system:

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Possible solution:

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2

Hello Luc,

the ACOPOS drive firmware contains sophisticated, configurable control loops, there is no need to add one manually.
E.g. Position control loop in ACOPOS

A vertical load can best be controlled with torque feed forward.
With the SW package mapp Motion, this can be easily configured.
E.G. mapp Motion controller cnfiguration

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3

Hi Luc,

I think everything you need to know is covered in a B&R standard motion training. This also covers very similar examples to your usecase. I therefore recommend that you sign up for a training course or at least work through the online seminars.

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5

Hello,

Just Some Links to the Learning options:

B&R Academy - Online Course - Mapp Motion - (Paid Online Course)
AS-Help - MappAxis - Getting Started
Community Guide: Motion Commissioning

Greetings
Michael

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