5 Enabling the servo drive and selecting the set values
5.2.3 Position-controlled mode and positioning mode
(positioning process)
In position-controlled mode/positioning mode, a superordinate position controller is active
in addition to the speed control. This position controller processes the deviation of the
actual position from the set position and converts it into the corresponding set values for
the speed controller.
The position controller calculates a corrective speed based on the difference between the
set position and actual position and transfers this speed value as a set value to the speed
controller.
Usually, the position controller is only used in conjunction with a positioning control or the
synchronisation control. It is a P-controller with parameterisable input and output limits.
Using the position controller without a positioning control
Using the position controller without a positioning control only makes sense in
combination with a synchronisation via the master frequency input. In this case, the
servo drive acts as a follow-up control system with the master frequency input being
configured for the feedforward control of the speed setpoint.
The position controller is parameterised under Parameters/Controller parameters/Position
controller (see section 4.4.13 Configuration of the position controller on page 59).
Product manual BL 4000-C Page 67 of 298
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