gefran ADV200 User Guide

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User Guide Electrical Line Shaft for ADV200 Page 42 of 72
5.13 POSITIONING Menu
The Positioning function lets you position the controlled shaft with a trapezoidal speed profile.
The POSITIONING menu contains the parameters needed to define the unit of measurement for positioning
and for the source of the start command, and to generate the speed profile, the position reached signal, and
the positioning state monitors.
The positioning function control diagram is shown in the chapter “CONTROL DIAGRAMS” Figure 35.
Positioning and Figure 36. U.U. Definition.
All parameters expressing positions are defined in u.u. (user units).
The u.u. value is defined by the parameters:
 IPA 11012 Els UU Per Rev
 IPA 11014 Els UU Mult
 IPA 11016 Els UU Div
By setting:
 Els UU Per Rev = 360
 Els UU Mult = 1
 Els UU Div = 1
one user unit corresponds to one mechanical degree.
Note:
Positionings are exclusively “relative” except when the first positioning command immediately follows a
Homing procedure and the drive is not disabled. In this case, target position parameter Els Pos Rel Trg
expresses the “absolute” position to be reached. In this case, positioning is “absolute.” An additional
positioning reverts to “relative.”
In a “relative”
positioning, movements are incremental to starting position.
Example:
If target position parameter Els Pos Rel Trg is set to 2000 u.u. (user units), the position increases by 2000
u.u. at each start command.
The positioning function manages any errors. If the theoretical stop position is 2000 u.u. and for any reason
the shaft positions at 2005, the next positioning takes account of the error and counts an additional 2000 u.u.
starting from 2000 (not from 2005). Movements are therefore relative to the actual theoretical position.
In an “absolute”
positioning, the commanded shaft goes to the target position set in Els Pos Rel Trg. The
position is calculated starting from shaft “Zero User Position” Example:
After running a Homing procedure with zero position = 150 u.u. (Els Home Offset = 150 u.u.), if a start position
command is given and Els Pos Rel Trg is set to 2000 u.u., the shaft goes to position 2000 u.u..
If another start position command is given, the positioning becomes “relative” and the shaft goes to the actual
increased position of Els Pos Rel Trg.
Position loop control parameters are contained in the POS LOOP menu (paragraph 5.10 POS LOOP Menu)
The position loop control diagram is shown in the chaptero “CONTROL DIAGRAMS” Figure 32. Pos Loop.
 IPA 11146 Els Spd ffw gain
 IPA 11148 Els Pos P gain
 IPA 12088 Els Pos ffw out mon
 IPA 12090 Els Pos P out mon
 IPA 12018 Els Pos Err out mon

gefran ADV200 Specifications

General

Brand	gefran
Model	ADV200
Category	Inverter
Language	English