Commissioning
Position control
Running through the state machine
6
68
KHB 13.0003-EN 2.0
6.3.2
Running through the state machine
After homing, the position control can be started. In addition to the definition of thetarget
position, the required control accuracy and the ramps and speed for the profile generator
must be defined.
No. Description
Identifier Control
field
Command
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1
Defining the operating mode
Position control (01) is used as
operating mode (modes_of_
operation).
601
5
2F
60
60
00
01
00
00
00
2
Defining the profile speed
With the
profile velocity
, you
determine the speed at which
the drive traverses during
positioning (v = 100 rpm).
601
8
23
81
60
00
64
00
00
00
3
Profile acceleration setting
The
profile_acceleration
object
is used to define the
acceleration.
601
8
23
83
60
00
88
13
00
00
4
Profile deceleration setting
The
profile_deceleration
object
is used to define the
deceleration.
601
8
23
84
60
00
88
13
00
00
5
Position window setting
In the position window
(position_error_tolerance_wind
ow), you can define a range in
which the controller does not
intervene.
One revolution corresponds to
an entry of 65536. 1/100 rev.
(655) is used as entry.
601
8
23
FB
60
05
8F
02
00
00
6
Defining the position window
The target position
(target_position) is reached
when the actual position of the
position controller (position_
actual_value) is within a
window (position_window)
around the target position.
1/100 rev. is selected as value.
601
8
23
67
60
00
8F
02
00
00
7
Position controller setting (K
p
)
A gain (position_control_gain)
of K
p
= 0.02 (equals 0148
h
) is
selected.
601
6
2B
FB
60
01
48
01
00
00
Tab. 8
Parameterisation of the position control
