Lenze 931K - Manual (Page 83)

Parameter setting
Position controller (position control function)
Overview
7
l
83 KHB 13.0002−EN 4.1
Fig. 13 shows the definition of the window function for the "following error" message. The
range between x
i
−x
0
and x
i
+x
0
is defined symmetrically around the set position
(position_demand_value) x
i
. The positions x
t2
and x
t3
are, for instance, located outside
this window (following_error_window). If the drive leaves this window and does not enter
it again within the time specified in the following_error_time_out object, then bit 13
following_error of the status word is set.
x - x
i 0
x + x
i 0
position x
x
i
x
t2
x
t3
931e_417
Fig. 13 Following error
2. Position reached
This function allows you to define a position window around the target position
(target_position). If the actual position of the drive is within this range for a certain time
(the position_window_time), then bit 10 target_reached of the status word is set.
Limit
Function
position_window_time
(6068h)
position_window
(6067h)
[position units]
home_offset
(607Ch) position_factor (6093h)
polarity (607Eh) [inc]
Multiplier
Limit
Function
target_position
(607Ah)
[position units]
home_offset
(607Ch) position_factor
(6093h)
polarity (607Eh)
Multiplier
position_actual_value*
(6063h)
-
[inc]
Timer
Windows
Comparator
target reached
status_word
(6041h)
931e_418
Fig. 14 Position reached − functional survey