Parameters and firmware blocks
252
Group 71 POSITION CTRL
Settings for the position controller.
The position controller calculates a speed reference that is used to minimise the
difference between position reference and actual values. The user can set the
controller gain, the feed forward value and a cyclical delay between the reference
and the actual value. The output of the position controller has a gear for transferring
position and speed data from the load side to the motor side.
The position controller also supervises the error between the reference position and
actual position in position and synchron control modes. The drive trips on a
POSITION ERROR fault if the limit (71.06 POS ERR LIM) is exceeded.
71.05 POS CTRL DELAY
+
71.03 P CTRL FEED GAIN
4.17 POS REF LIMITED
4.01 SPEED REF POS
4.20 SPEED FEED FWD
1.12 POS ACT
71.08 GEAR RATIO DEN
71.07 GEAR RATIO NUM
z
-x
x
y
x
y
4.02 SPEED ACT LOAD1.01 SPEED ACT
x
y
x
4.19 POS ERROR
71.02 POS CTRL GAIN
+
-
d
dt
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