KEB COMBIVERT F5-A, Applications Manual, Page: 327 / 552

7.12.4.6 Posi mode / set and target position
In posi mode there are two parameters that provide information about the set position:
Parameter ru.61 "target position" shows the target position for the running positioning, i.e., the position the drive
should have reached at the end of the positioning.
Parameter ru.56 "set position" displays the position the drive should have reached currently.
This position is the setpoint for the position controller. It is calculated by the inverter in 1ms cycles, dependent
on the adjusted ramp times and the permitted positioning speed.
Special function for position detection systems with high deceleration (e.g., some opto-electronic distance
measurement systems):
In parameter Ec.46 "PT1-time channel 1", or Ec.47 "PT1-time channel 2", one can enter the time by which the
position information from the measurement system is delayed.
If a PT1-time is defined for the encoder channel entered in PS.01 as feedback for the position control, the set
position ru.56 is also delayed by that time. Thereby, the position controller does not respond to the position
difference caused by the time delay of the measurement system.Since these position differences do not really
exist, their masking improves the control characteristic of the position controller.
The difference between the set point position ru.56 and the actual position ru.54 is displayed in parameter ru.58
"angle difference".
7.12.4.7 Posi mode / single positioning
To carry out a single positioning, the following initial settings must be met:
●
Operating mode "Posi mode" must be selected (see chapter 7.12.4)
●
PS.23: Index / selection = 0
●
PS.26: Index / next = "-1: PS.28“
● PS.28: Start index new profile = 0
● PS.27: Index / mode → „Continue the profile processing“ = „no“
The target position is set in parameter PS.24 "Index / position" in increments (scaling factor of the position
settings)
In parameter PS.27 "Index / mode", the traversal manner (relative or absolute) is set.
PS.27: Index mode
Bit Meaning Value Explanation
0
Continue of the
profile processing
0: no must be always be set to "0: no" at single positioning
1...3 Position setting
0: absolute The position is given as an absolute value.
2: relative
The new position is set relative to the previous set point position.
The direction (right or left of the old set position) is determined by
the sign of the new position setpoint PS.24.
6: relative
to PS.38
(FR)
The new position is set relative to the previous target position. The
direction (right or left of the old target position) is determined via
a digital input (selectable via PS.38 and via the Input function "re-
lative position F / R" in the parameters di.24...di.35, respectively).
The sign of the position setpoint is disregarded.
4
For special functions "defined stop" (see chapter 7.12.4.11)
8, 10, 12 For special functions "rotary table" (see chapter 7.12.4.10)
14 reserved
Posi- and synchronous operating
© KEB, 2012-10 COMBIVERT F5-A, -E, -H Page 7.12 - 35
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