Lenze EVS9321EP - Positioning control (POS)

Function library
Positioning control
3−19
l
EDSVS9332P−EXT DE 2.0
3.4 Positioning control (POS)
Purpose
The function block "positioning control (POS)" is the core of the 9300 servo position controller. It
controls positioning in the controller.
9300POS001
P O S - A B S - I N
C 1 3 6 4 / 2
C 1 3 6 5 / 2
P O S - S T A R T - P S
C 1 3 6 2 / 1
C 1 3 6 3 / 1
P O S - P R G - S T A R T
C 1 3 6 0 / 1
C 1 3 6 1 / 1
P O S - N O U T
C 1 2 8 0 . B 0
P O S - P R G - S T O P
C 1 3 6 0 / 2
C 1 3 6 1 / 2
C 1 2 8 0 . B 1
³
1
P O S - P R G - R E S E T
C 1 3 6 0 / 3
C 1 3 6 1 / 3
C 1 2 8 0 . B 2
³
1
P O S - P S - C A N C E L
C 1 3 6 0 / 1 5
C 1 3 6 1 / 1 5
P O S - M A N U A L
C 1 3 6 0 / 6
C 1 3 6 1 / 6
³
1
P O S - M A N U - P O S
C 1 3 6 0 / 8
C 1 3 6 1 / 8
³
1
P O S - M A N U - N E G
C 1 3 6 0 / 7
C 1 3 6 1 / 7
³
1
P O S - M A N U - R E F
C 1 3 6 0 / 9
C 1 3 6 1 / 9
³
1
P O S - L I M - P O S
C 1 3 6 1 / 5
C 1 3 6 0 / 5
P O S - L I M - N E G
C 1 3 6 1 / 4
C 1 3 6 0 / 4
P O S - R E F - M A R K
C 1 3 6 1 / 1 0
C 1 3 6 0 / 1 0
P O S - P S E T - E X T
C 1 3 6 4 / 1
C 1 3 6 5 / 1
P O S - N - I N
C 1 3 6 2 / 4
C 1 3 6 3 / 4
P O S - P - I N
C 1 3 6 4 / 3
C 1 3 6 5 / 3
P O S -
A
- O V E R R I D
C 1 3 6 2 / 3
C 1 3 6 3 / 3
P O S -
V
- O V E R R I D
C 1 3 6 2 / 2
C 1 3 6 3 / 2
P O S - S - R A M P S
C 1 3 6 1 / 1 7
C 1 3 6 0 / 1 7
P O S - P A R A M - R D
C 1 3 6 1 / 1 8
C 1 3 6 0 / 1 8
P O S - L O O P - I N H
C 1 3 6 1 / 1 9
C 1 3 6 0 / 1 9
P O S - P S E T - S W T
C 1 3 6 1 / 2 0
C 1 3 6 0 / 2 0
P O S - A B S - S E T
C 1 3 6 1 / 2 1
C 1 3 6 0 / 2 1
M C T R L - P H I - A C T
M A N U A L
+
H O M I N G
C T R L
P O S - P F I
P O S - P F O
0
1
0
1
+
P R G - C T R L
P O S - S E T P O S
C 1 2 2 1 / 2
L I M - C T R L
P O S - I N - T A R G E T
P O S - P O U T
P O S - V T R A V - R E A
P O S - V F I N - R E A C
P O S - A C C - R A M P
P O S - V S E T
C 1 2 4 5 / 1
P O S - A S E T
C 1 2 5 5 / 1
P O S - D C C
C 1 2 5 5 / 3
P O S - A C C
C 1 2 5 5 / 2
P O S - V F I N A L
C 1 2 4 5 / 3
P O S - V T R A V
C 1 2 4 5 / 2
P O S - T A R G E T
C 1 2 2 1 / 1
P O S - D C C - R A M P
P O S - R E F - O K
P O S - M A N U - A C T
P O S - S T D B Y - A C T
P O S - S T O P P E D
P O S - S T A R T E D
P O S - E N D E D
P O S - R E S E T E D
P O S - A C T - P S - N O
C 1 2 1 2
P O S - S T D B Y - S T P
C 1 3 6 1 / 1 6
C 1 3 6 0 / 1 6
P O S - A C T P O S
P O S - T P
³
1
C 1 2 8 0 . B 3
C 1 2 8 0 . B 4
C 1 2 8 0 . B 5
C 1 2 8 0 . B 6
C 1 2 8 0 . B 7
P O S - M O U T
0
1
P O S - M - I N
C 1 3 6 2 / 6
P O S
C 1 3 6 3 / 6
P O S - M O U T - G A I N
C 1 3 6 2 / 7
C 1 3 6 3 / 7
P S 1
C 1 3 1 1 / 1
C 1 3 1 2 / 1
C 1 3 4 9 / 1
. . . . . .
. . .
. . .
. . .
. . .
P S 3 2
C 1 3 1 1 / 3 2
C 1 3 1 2 / 3 2
C 1 3 4 9 / 3 2
. . .
V T P O S
C 1 3 0 1 / 1
C 1 3 0 1 / 1 0 4
. . .
V T V E L
C 1 3 0 2 / 1
C 1 3 0 2 / 3 4
. . .
V T A C C
C 1 3 0 3 / 1
C 1 3 0 3 / 3 4
. . .
V T T I M E
C 1 3 0 5 / 1
C 1 3 0 5 / 3 4
. . .
V T P C S
C 1 3 0 4 / 1
C 1 3 0 4 / 3 4
. . .
V S E T - E X T
S E T P O S - E X T
A S E T - E X T
1 0
1 0
V S E T = 0
S E T P O S = A C T P O S
A S E T = 0
M C T R L -
Q S P
- O U T
D C T R L -
C I N H
³
1
P O S - N O U T - G A I N
C 1 3 6 2 / 5
C 1 3 6 3 / 5
P O S - N S E T
-
C 1 2 2 1 / 3
C 1 2 2 0 / 1
C 1 2 2 0 / 2
C 1 2 2 0 / 3
P O S - W A I T S T A T E
C 1 3 6 1 / 2 2
C 1 3 6 0 / 2 2
C 1 2 2 1 / 4C 1 2 2 0 / 4
P O S - J E R K - R E D
C 1 3 6 2 / 8
C 1 3 6 3 / 8
P O S - P O U T - N O R M
C 1 2 1 8 / 1
P O S - P H I - S E T
P O S - P H I - A D D
C 1 3 6 6 / 1
C 1 3 6 7 / 1
P O S - A B S - V A L
P O S - R U N N I N G
S p e e d p r o f i l e r
( f r o m p a t h c o n t r o l u n i t )
+
+
+
+
+
-
( T o u c h P r o b e )
( S p e e d )
( F o l l o w i n g e r r o r )
( T o r q u e )
0
1
C 1 2 2 1 / 7
h o m e p o s i t i o n
h o m e o f f s e t
C 1 2 2 1 / 1 6C 1 2 2 0 / 1 6
C 1 2 2 5
( V i r t u a l m a s t e r f u n c t i o n )
S E T P O S
T A R G E T
=
&
S e t
( f e e d b a c k s e l e c t e d u n d e r C 4 9 0 )
C 1 2 2 1 / 8
C 1 2 2 7
( G e n e r a t i o n o f a c t u a l p o s i t i o n )
( I n f l u e n c e o f f e e d f o r w a r d v a l u e s )
( E x t e r n a l s e t v a l u e s f o r s t a n d - b y o p
e r a t i o n )
P r o g r a m s e t s ( P S )
V a r i a b l e t a b l e s ( V T )
( V a l u e s f o l l o w i n g t h e p r o f i l e )
( L a t c h e d p r o f i l e v a l u e s )
( P 1 4 t o l e r a n c e )
Fig. 3−6 Function block POS