Parameter setting
Position controller (position control function)
Overview
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KHB 13.0003-EN 2.0
7.6
Position controller (position control function)
7.6.1
Overview
This chapter describes all parameters that are required for the position controller. The
position setpoint (
position_demand_value
) of the driving profile generator is assigned to
thepositioncontrollerinput.In addition,the actual position value(
position_actual_value
)
is sent by the phase-angle encoder (resolver, incremental encoder, etc.). The behaviour of
the position controller can be influenced by parameters.
The following subfunctions are defined in this chapter:
1. Following error (Following_Error)
A following error is the difference between the actual position value
(
position_actual_value
) and the position setpoint (
position_demand_value
). If the
following error is for a certain time higher than the value indicated in the following error
window (
following_error_window
), bit 13
following_error
is set in the
status word
object.
Fig. 10 shows the definition of the window function for the ”Following error” message.
Symmetrically around the setpoint position (
position_demand_value
) x
i
, the range
between x
i
-x
0
and x
i
+x
0
is defined. The positions x
t2
and x
t3
are, for instance, not within
the window (
following_error_window
). If the drive leaves the window, bit 13
following_error
is set in the
status word
.
x - x
i
0
x + x
i
0
position x
x
i
x
t2
x
t3
931e_417
Fig. 10
Following error
2. Position reached (Position Reached)
This function is used to define a position window around the target position
(
target_position
). When the target position of the drive is reached - the drive is within the
tolerance window - bit 10
target_reached
is set in the
status word
.
Fig. 11 shows the definition of the window function for the ”Position reached” message.
Symmetrically around the target position (
target_position
) x
i
, the position range between
x
i
-x
0
and x
i
+x
0
is defined. The positions x
t0
and x
t1
are, for instance, within the position
window (
position_window
). When the drive is within this window, bit 10
target_reached
is set in the
status word
. As soon as the drive leaves the permissible range, bit 10 is reset
to zero.
