General activation of the position controller
Proportional gain of the position controller
KP zero speed position ctrl
Additional proportional gain of the position controller at
standstill (speed setpoint= 0)
Setpoint-dependent reduction of the KP position control-
ler
Speed value for KP reduction by the value of ps03
Limitation of the output signal of the position controller in
% of rated motor speed
Selection of the source for the position signal
Definition of the gear factor between position encoder
and motor
Since the controlled system has an integral behavior, the position controller is a
pure P controller.
The gain factor KP of ps01 KP position controller and ps02 KP zero speed position
ctrl is standardized by way that an angle difference of one revolution of the position
encoder generates the specified speed setpoint for the position encoder specified
in Kp.
Example gain factor Kp:
With an angular deviation of 5° at the position encoder and a Kp of 2000 rpm the
output value of the position controller is = 5/360*2000 rpm = 27.8 rpm.
The total value of the setpoint speed (ru06) is added from the speed profile of the
spline interpolator or the profile generator and the output value of the position con-
troller.
The gear factor (ps35 / ps36) is considered for the conversion into motor speed
setpoint.
The output of the position controller is limited by ps10 position control limit %.
Limitation of the output signal of the position controller in % of rated motor speed
The limitation of the position controller refers to the motor speed. It is no longer
converted with the gear factor.
6.5.3.1 Standard position controller
ps01 KP position controller determines proportional gain of the position controller.
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