General information
System requirements
Automation Studio 4.3.4 or later
Automation Runtime B4.34 or later
mapp Technology Package mapp Motion
Basic package license Any mapp Motion basic package license
Behavior if license missing The functions cannot be used; an LED on the target system is blinking. In addition, an entry is made in the logbook.
Material number:

Repetitive control considerably improves the accuracy of production processes with stationary disturbances by using predictive lag error compensation. Performance is increased considerably without a great deal of additional effort. A license is required to use this function on the ACOPOS P3.

Typical applications:
  • Drive units with position-dependent disturbances
  • Drive units with virtually steady speeds
  • Printing presses, filling systems, machine tools
Functional scope:

When position-controlled drives run at constant speed, mechanical conditions can cause stationary disturbing torque fluctuations, which are generally observed as lag error localized to a certain area. Embedded in the standard speed control loop, the repetitive control function adjusts the drive's torque setpoint to drastically reduce the periodic portions in the speed and lag error. The algorithm undergoes a constant learning process so that changes to the load profile (e.g. caused by wear) have no effect whatsoever on the drive. The disturbance torque is compensated for predictively.

Further information:

See the EULA at

Mandatory Accessories
Technology Guard
0TG1000.01 Technology Guard (MSD)
0TG1000.02 Technology Guard (HID)
Certificates Version (Date) Download
EULA (End User License Agreement) - AS, AR & mapp Technology PDF / 116 KB

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