Lenze i700 - Manual (Page 116)

5 Motor control & motor settings
5.11 Setting control loops
116
Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
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5.11.4 Setting the position controller
For the automatic calculation of the gain, the "Position controller: Calculate controller parameters"
function is provided via object 0x2822 (or 0x3022 for axis B).
0x2980 | 0x3180 - Position controller: Gain
0x2981 | 0x3181 - Position controller: Gain - adaptation
0x2982 | 0x3182 - Position controller: Output signal limitation
0x2983 | 0x3183 - Position: Select a new actual position
Equations for calculating the gain
Axis A Axis B Symbol Description Dimension unit
0x2980 0x3180 V
p
Position controller: Gain Hz
0x2904 0x3104 T
filter
Actual speed value filter time constant s
- - T
current
controller
Equivalent time constant of the current control loop
= 0.0005 s (500 μs)
s
V
p
1
32 T
Sum
⋅
----------------------- = T
Sum
T
Filter
T
Current controller
+ =
Setting range (min. value | unit | max. value) Lenze setting
0.00 1/s 1000.00 28.40 1/s
 Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32
Setting range
(min. value | unit | max. value)
Lenze setting
0.00 % 200.00 100.00 %
 Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_16
Setting range
(min. value | unit | max. value)
Lenze setting
0 [n unit] 480000 480000 [n unit]
 Write access  CINH  OSC  P  RX  TX Scaling: 480000/2 31 UNSIGNED_32
Setting range (min. value | unit | max. value) Lenze setting
-2147483647 [Pos unit] 2147483647 0 [Pos unit]
 Write access  CINH  OSC  P  RX  TX INTEGER_32