Parameters and firmware blocks
222
71
71 POSITION CTRL
Firmware block:
POS CONTROL
(71)
This block
• selects the sources for the actual
and reference position inputs of the
position controller
• defines the position control loop
gain and the speed feed forward
gain
• defines a delay for the position
reference
• configures position error
supervision
• shows the speed reference,
position error and position speed
reference multiplied by the speed
feed forward gain.
Block outputs located in other
parameter groups
4.01 SPEED REF POS (page 89)
4.19 POS ERROR (page 90)
4.20 SPEED FEED FWD (page 90)
71.01 POS ACT IN FW block: POS CONTROL (see above)
Selects the source for the actual position input of the position controller. The default value is P.1.12,
i.e. signal 1.12 POS ACT, which is an output of the POS FEEDBACK firmware block (see page 192).
Value pointer: Group and index.
71.02 POS CTRL REF IN FW block: POS CONTROL (see above)
Selects the source for the position reference input of the position controller. The default value is
P.4.17, i.e. signal 4.17 POS REF LIMITED, which is the output of the POS REF LIM firmware block
(see page 219).
Note: This parameter has been locked, i.e. no user setting is possible.
Value pointer: Group and index.
71.03 POS CTRL GAIN FW block: POS CONTROL (see above)
Defines the gain for the position control loop. A value of 1 produces a 1 rev/s speed reference when
the position difference between the reference and actual position is 1 revolution.
0…10000 1/s Gain for position control loop.
71.04 P CTRL FEED GAIN FW block: POS CONTROL (see above)
Defines the speed feed forward gain. The default gain value is suitable for most applications. In some
cases the gain can be used to compensate the difference between the reference position and actual
position caused by external disturbances.
0…10 Speed feed forward gain.
POS CONTROL
11
TLF4 500 µsec (3)
< 71.01 POS ACT IN
[ POS ACT ]
(11 / 1.12)
< 71.02 POS CTRL REF IN
POS REF LIMITED
(11 / 4.17)
71.03 POS CTRL GAIN
[ 10.00 1/s ]
71.04 P CTRL FEED GAIN
[ 1.00 ]
71.05 POS CTRL DELAY
[ 0 ]
71.06 POS ERR LIM
[ 32768.000 rev ]
71.07 GEAR RATIO MUL
[ 1 ]
71.08 GEAR RATIO DIV
[ 1 ]
71.09 FOLLOW ERR WIN
[ 32768.000 rev ]
4.01 SPEED REF POS
4.19 POS ERROR
4.20 SPEED FEED FWD
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