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MovingCap Ethernet Drives - Software Manual

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MovingCap RABBIT - High-speed Positioning For Direct Drive Linear (DDL) Motors

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A new position controller (“Rabbit Pos Control”) is available for the new MovingCap flatTRACK, FATtrack, and shortTRACK series. This controller makes optimal use of the mechanical and electrical advantages of direct drive linear (DDL) systems and was designed for applications with high dynamic and accuracy requirements.

Overview and differences between the MovingCap position control systems

Position controller

MovingCap controller standard

MovingCap controller Highspeed
("Rabbit Pos Control")

Product variant

MovingCap turnTRACK Ethernet TCP/IP
(rotary drives MC349 ETH, MC632/634/636 ETH, MCN23 ETH)

MovingCap pushTRACK Ethernet TCP/IP (short-stroke cylinder pushTRACK 45S100 - 115S240)

MovingCap flatTRACK Ethernet TCP/IP
(Linear direct drives flatTRACK 100-1325)

MovingCap shortTRACK Ethernet TCP/IP
(Compact linear direct drive shortTRACK 046)
 
MovingCap FATtrack
(FATtrack 200 linear direct drive for high forces)

Controller architecture

3-stage cascade control from PI controllers

1.position

2.Position Speed

3.Current/torque

2-stage cascade control

1.State controller for position and speed + switching integrator for static position error correction

2.PI current controller

Operating modes

Positioning Mode (Profile Position Mode)
Velocity mode (constant speed mode)
Homing mode (homing mode)

Positioning mode (Profile Position Mode)
(Velocity mode in preparation)

Controller input variables

Position or speed

Position, speed and acceleration

Trajectory generator

Trapezoidal speed profile

S-shaped speed profile

Trajectory parameters

Maximum speed (Profile Velocity),
Acceleration (Profile Acceleration),
Braking value (Profile Deceleration)

Maximum speed (Profile Velocity),
Maximum acceleration (Profile Acceleration, same as braking value),
Jerk / acceleration change (Profile Jerk)

Controller setting

Presets for stable operation for most basic applications
 
Position control setting parameters:
Proportional gain (Kp Pos)
Integral gain (Ki Pos)
 
Speed control setting parameter:
Proportional gain (Kp Vel)
Integral gain (Ki Vel)

Specification of the moving payload in grams [g]

Adjustable weight compensation / compensation of additional static forces

Fine tuning:

Switchable linear or root position control

Adjustable compensation of motor phase asymmetry ("Torque Ripple Suppression")

Fine tuning by adjusting the control gains (Pos Gain, Vel Gain, Err Gain)

 

 

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