ASCII Objekt-Reference 

 

Home 

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