Operating Instructions ACU
Via parameter Max. positional error 472, the permissible max. deviation from the Reference
orientation 469 can be set.
Via parameter time constant positioning contr. 479, the time constant for controlling the positional
error can be set. The value of the time constant should be increased if oscillations of the drive
around the reference orientation occur during the positioning.
time constant positioning
contr.
To make sure that the set position is maintained if a load torque is applied, a stopping behavior
should be selected for parameter Operation Mode 630 which impresses a starting current either
permanently when the drive is at a standstill or for the stopping time.
The status message “60-Target Position Reached” which is displayed when the reference orientation
is reached can be assigned to a digital output. The message is output on the following conditions:
Operation Mode 2 (axle positioning) for parameter Operation Mode 458 is selected.
The controller enable signal at digital inputs S1IND/STOA and S7IND/STOB is switched on.
Enable axis positioning 37 is activated.
The speed sensor monitoring is activated, i. e. operation mode 2 (error message) is selected for
parameter Operation Mode 760 .
Operation mode 1004 or 1104 (quadruple evaluation with reference impulse) is selected for the
speed sensor input.
The Actual Frequency 241 is smaller than Hz.
The deviation of the current position from the reference orientation is smaller than the Max.
positional error 472.
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