Lenze 931K - Manual (Page 85)

Parameter setting
Position controller (position control function)
Description of the objects
7
l
85 KHB 13.0002−EN 4.1
Index Name Possible settings Characteristics
Lenze Selection Description
60FB
h
0 position_control_
parameter_set
REC UINT8 RO Ċ
Reading−out of the position
controller data.
The position controller
operates with internal
feedforwarding so that
deviation control is
minimised and the controller
settling time is reduced.
1 position_control_
gain
52 0 {1} 64 × 256 Ċ UINT16 RW Ċ
Setting of the position
controller gain.
From the SDC program:
K
p
= 0.2
Setting here: 0.2 × 256 = 52
4 position_control_
v_max
500 0 {1 rpm} 32767 Ċ UINT32 RW MAP
Limitation of the position
controller correction speed.
This is required since even
small position deviations can
cause considerable correction
speeds.
5 position_error_
tolerance_window
13 0 {1 inc} 65535 Ċ UINT32 RW MAP
Definition of the size of a
position deviation up to
which the position controller
does not intervene (dead
zone). This can be used for
stabilisation purposes, for
instance, if there is backlash
present in the system.
6062
h
0 position_demand_
value
−2 31 {1 inc} 2 31 −1 VAR INT32 RO MAP
Reading−out of the position
setpoint.
This value is supplied to the
position controller by the
trajectory generator.
6063
h
0 position_actual_
value
−2 31 {1 inc} 2 31 −1 VAR INT32 RO MAP
Reading−out of the actual
position.
The unit can be set via the
factor group.
6064
h
0 position_actual_
value
−2 31 {position units} 2 31 −1 VAR INT32 RO MAP
Reading−out of the actual
position.