5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 105
5.7 Position Controller (Position Control Function)
Overview
This chapter describes all parameters required for the position controller. The position setpoint value
(position_demand_value) of the curve generator is applied to the input of the position controller. In
addition, the actual position value (position_actual_value) is added from the angle encoder (resolver,
increment generator, etc.). The actions of the position controller can be influenced by parameters. It is
possible to limit the output variable (control_effort) to keep the position control circuit stable. The
output variable is supplied to the speed regulator as the speed setpoint value. All input and output
variables of the position controller are converted in the Factor Group from the application-specific units
into the respective internal units of the regulator.
The following subfunctions are defined in this chapter:
1. Contouring error (Following_Error)
The deviation of the actual position value (position_actual_ value) from the position setpoint value
(position_demand_value) is designated as contouring error. If this contouring error is greater than
specified in the contouring error window (following_error_window) for a specific time period, bit 13
following_error is set in the object statusword. The permissible time period can be specified via the
object following_error_time_out.
Following_error_window (6065
h
)
Following_error_time_out (6066
h
)
Statusword, bit 13 (6041
h
)
0
Following_error_window (6065
h
)
Fig. 5.6 Contouring error – functional overview
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