Functions, monitoring, and protective functions
9.4 Extended functions
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A
353
9.4.5 Closed-loop position control
Description
The "Closed-loop position control" function module includes:
● Actual position value preparation (including subordinate measuring probe evaluation and
reference mark search)
● Position controller (including limitation, adaptation and pre-control calculation)
● Monitoring (including zero-speed, positioning, dynamic following error monitoring system
and cam signals)
● Position tracking of the load gearbox (motor encoder) when using absolute encoders for
rotary axes (modulo)
Actual position value calculation for distance-coded measuring systems is not yet available.
Commissioning
The "Closed-loop position control" function module can be activated using the drive
characteristics dialog.
When the "basic positioner" function module (r0108.4 = 1) is activated, the "closed-loop
position control" function module (r0108.3) is automatically activated.
The current configuration can be checked in parameter r0108.3.
The position controller can be parameterized in a user-friendly fashion using the screen
forms in STARTER.
The "closed-loop position control" function module is essential for operating the basic
positioner.
Note
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond.
To prevent this from happening, the position controller must be disabled (p2550 = 0) and
tracking mode must be activated (p2655 = 1, for control using PROFIdrive telegram 110
PosSTW.0 = 1). In this way, the monitoring functions are switched off and the position
setpoint is tracked.
Function diagram
FD 4010 Actual position value preparation
FD 4015 Position controller
FD 4020 Zero-speed / positioning monitoring
FD 4025 Dynamic following error monitoring, cam controllers
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