Screen page "Position" (P)
Cycle time of the position controller: 250 µs
Subscreens
Position Data |
Opens the screen page "Position Data" |
Homing |
Opens the screen page "Homing" |
Gearing |
Opens the screen page "Gearing" |
Ff Factor
ASCII: GPFFV |
Default: 1 |
valid for OPMODES 4,5,8 |
Determines the feed-forward factor for the position controller. Feed-forward
is used to ease the task of the position controller. A better setting for
the Ff-factor means a better utilization of the dynamic range of the position
controller. The most favorable setting (usually about 1.0) depends on factors
external to the drive, such as friction, dynamic resistance, and stiffness.
KV
ASCII: GP |
Default: 0,15 |
valid for OPMODES 4,5,8 |
Determines the proportional gain for the position controller.
Normalization:
speed in m/s at 1 mm position deviation.
max.Following Error
ASCII: PEMAX |
Default: 262144 |
valid for OPMODES 4,5,8 |
The following error is the maximum difference (+/- window) between the
position setpoint and the actual position that is permitted during processing.
If the value leaves this window, then the position controller generates
an error message and brakes the drive, using the emergency ramp.
Mode / Position Feedback
ASCII: EXTPOS |
Default: 0 |
valid for all OPMODES |
Mode
Determines the type of position control loop (P/PI). With a PI position control, this screen page appears in a different layout.
Position feedback
Determines the feedback source for the internal position
controller. For most applications, the position information for commutation
and for position control are derived from the same source. This source
is determined on the "FEEDBACK" screen page, and can be either a resolver or an
Endat/Hiperface encoder. In certain situations it may be advisable to derive
the position information for commutation from a different source to that
for the position control. In such a case the feedback parameter will continue to
be the source for commutation, and the source for the position control
will be given by gearing mode.
Standard feedback
- Feedback type is set by feedback
- it is not possible to read
in an encoder via X1 or X5
Read external (ROD/SSI) for fieldbus
- Feedback type is set by feedback, external
encoder is set by gearing mode
External (ROD/SSI) for position control
- Feedback type is set by external
source via gearing mode