Lenze i950

13.6.5.9 Posion controller
Equaon for calculang the gain
The automac
calculaon is made via the parameter 0x2822:015 = 1.
= = +
×
p Summe Filter Stromregler
Summe
1
V , T T T
32 T
Parameter Symbol Descripon Dimension unit
0x2980 V
p
Posion controller gain Hz
0x2985:001 ... 0x2985:011 V
p
(n) Speed-dependent V
p
adaptaon
0x2904 T
Filt
er
Filter me constant - actual speed
value
s
- T
current controller
Equivalent me constant of the cur-
rent control loop = 0.0005 s (500
µs)
s
Instability of the posion control loop due to too high dynamic performance of the speed controller
The following countermeasure must be taken if the following error cannot be reduced to
accep
table values while seng the posion controller:
1.Reduce speed controller by the factor 2 and slowly increase the posion controller unl it
gets slightly unstable again.
2.Reduce the posion controller slightly and increase the speed controller unl the posion
control loop gets slightly unstable again.
3.Repeat these steps unl the following error is reduced to acceptable values.
Parameter
Address Name / seng range / [default seng] Info
0x2980 Posion controller gain
0.00 ... [28.40] ... 1000.00
Hz
Seng of the posion controller gain.
0x2981 Posion controller gain adapon
0.00 ... [100.00] ... 200.00 %
Seng of the percentage adaptaon for the posion controller gain.
0x2982 Posion controller output signal limitaon
0.00 ... [480000.00] ... 480000.00 rpm
Seng of the output signal limitaon.
0x2983 Actual posion start value
-2147483647 ... [0] ... 2147483647 pos. unit
Specifying a new actual posion.
0x2984 Mode for seng the actual posion Selecon of the mode for seng or shiing the actual posion.
0 Absolute Actual posion = Actual posion start value (0x2983)
1 Relave Actual posion = actual posion + Actual posion start value (0x2983)
0x2986 Resulng gain adapon
•
R
ead only: x.xx %
Display of the resulng gain aer being adapted.
Conguring the motor control
Opons for opmising the control loops
Mot
or control sengs
273