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Bernecker + Rainer (B & R) has the functional scope of the Servo amplifiers, Acopos' extended: With Repetitive Control, the accuracy in production processes with position-fixed disturbances can be significantly improved, since following errors are compensated predictively. The performance of the machine or system increases significantly without much effort. A firmware update provides Repetitive Control for all Acopos models.

In position-controlled drives with constant speed, stationary disturbance torque fluctuations can occur due to mechanical conditions. These usually result in a localized following error. By optimizing the parameterization of the drive controller, this following error can be minimized, but the disturbance can not be completely avoided.

Embedded in the standard speed control loop of the Acopos drive family, Repetitive Control adapts the setpoint torque of the drive so that the periodic components in the velocity and following error are drastically minimized. The algorithm learns constantly, so that changes in the load profile, such as wear, have no effect on the drive. The disturbance torque is predictively compensated.

The active interference suppression, which is used as an add-on to the standard control, is easy and intuitive to parametrize. Due to the adaptive nature of the algorithm, no mathematical system model is necessary.
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