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Functions, monitoring and protective functions
9.4 Extended functions
9.4.6
Position control
Description
The "Closed-loop position control" function module includes:
● Position actual value conditioning (including the lower-level measuring probe evaluation
and reference mark search)
● Position controller (including limitation, adaptation and pre-control calculation)
● Monitoring (including zero-speed, positioning, dynamic following error monitoring system
and cam signals)
● Position tracking of the load gear (motor encoder), using absolute encoders for rotary
axes (modulo) as for linear axes.
Commissioning
The "Closed-loop position control" function module can be activated using the drive
characteristics dialog.
When the "Basic positioner" function module (r0108.4 = 1) is activated, then the function
module "Position control" (r0108.3) is automatically activated.
The current configuration can be checked in parameter r0108.3.
The position controller can be parameterized in a user-friendly fashion using the screen
forms in STARTER.
The "closed-loop position control" function module is essential for operating the basic
positioner.
Note
Trigger of the monitoring functions of the position controller
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond.
To prevent this from happening, the position controller must be deactivated (p2550 = 0) and
the tracking mode must be activated (p2655 = 1, for control using PROFIdrive telegram 110
PosSTW.0 = 1). In this way, the monitoring functions are switched off and the position
setpoint is tracked.
Function diagrams
FD 4010
FD 4015
FD 4020
FD 4025
634
Position actual value processing (r0108.3 = 1)
Position controller (r0108.3 = 1)
Standstill monitoring / positioning monitoring (r0108.3 = 1)
Dynamic following error monitoring, cam controllers (r0108.3 = 1)
Operating Instructions, 12/2018, A5E36652151A
Enclosed Drives
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