Siemens SIMODRIVE 611 universal - Closed-Loop Position Control Components

6
6.2 Positioning mode (P0700 = 3, from SW 2.1)
6-364
 Siemens AG 2005 All Rights Reserved
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
6.2.3 Closed–loop position control components
The closed–loop control of an axis consists of the current and speed
control loop and a higher–level position control loop.
The closed–loop position control fulfills the following tasks:
 Controls the velocity of the drive during movement
 The axis is precisely moved to the programmed target position
 Holds the axis at a target position even when disturbances are pres-
ent
The closed–loop position controller is a P controller. Various function
units are provided in its environment, which provide support for special
tasks in the motion control, and which can be adapted to the axis cha-
racteristics using numerous parameters.
Position
setpoint
Monitoring functions
Following error
Positioning
Standstill
Speed
setpoint
Position
actual value
P0080 Block number
to ... (for traversing blocks)
P0087 Mode
P0100 Dimension system
P0102 Maximum velocity
P0103 Maximum acceleration
P0104 Maximum deceleration
P0107 Jerk limiting (from SW 3.1)
P0200:8 Kv factor (position loop gain)
P0201 Backlash compensation
P0203 Speed pre–control mode
P0204:8 Factor, speed pre–control
P0205:8 (deadtime)
Balancing filter, speed pre–control
P0206:8 (PT1)
P0210:8 Time constant, pos. ref. value filter (PT1)
P0231 Position act. value inversion
P0232 Position ref. value inversion
P0203 P0204:8
P0200:8
P0310 Cam switching position 1
P0311 Cam switching position 2
P0315 Minus software limit switch
P0316 Plus software limit switch
P0318:8 Dyn. following error monitoring tolerance
P0320 Positioning monitoring time
P0321 Positioning window
P0325 Standstill monitoring time
P0326 Standstill window
P0310
P0311
P0102
P0103
P0104
P0315
P0316
P0080
to
P0087
Fine
inter–
polator
(FIPO)
Position
controller
Backlash
compensation
Direction
adaptation
P0231
P0232
P0201
++
+
–
P0320, P0321
P0325, P0326
P0318:8
P0232
P0232
P0205:8
P0206:8
Interpolator
(IPO)
Pos.
ref.
value
filter
P0210:8
Speed
pre–control
Bal–
ancing
filter
P0107
Fig. 6-12 Closed–loop position control components
General
information
6 Description of the Functions
01.99
! not 611ue !
10.99