Lenze E94AxPExxxx - Manual (Page 520)

12 Basic drive functions
12.8 Position follower
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Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
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12.8 Position follower
This basic function is used as setpoint interface for position-controlled drives.
• The specified position setpoint can either refer to the encoder on the motor side or to the
(position) encoder used additionally to detect the machine position. The selection of the
encoder configuration serves to adapt the internal control structure accordingly.
• Instead of a position setpoint alternatively also a speed setpoint can be specified by an
according selection in C02680 ; the set position is then calculated by the integration of the speed
setpoint on the basis of the current actual position (relative positioning).
• If the direction of rotation of the motor has to be inverted due to the mounting position of the
motor or the gearbox ratio available, the use of the control signals can be accordingly changed
over by means of parameterisation.
• The speed feedforward control can also be executed with the position setpoint by a
corresponding selection in C02681 . Then, the speed is calculated by differentiation of the
position setpoint.

Stop!
If a limit switch is approached by means of the basic function "Position follower" and by
this a fault with the "Quick stop by trouble" response is activated, always a set/actual
adjustment of the position has to be carried out before the fault is acknowledged, as
otherwise an uncontrolled motor movement may result after the fault is acknowledged!
 Hardware limit positions (limit switch) ( 545)

Note!
When the basic function is activated, a start acceleration is considered.  Start
acceleration/acceleration reduction when the basic function changes ( 420)
The following applies to the encoderless motor control types :
The basic function "Position follower" can only be activated for V/f control or sensorless
vector control if the position controller has been selected for the position control
( C02570 = "2: position controller active").