Position Controller - BONFIGLIOLI Active cube Operation Manual

10.2.5

Position Controller

The position controller evaluates the positioning operation (target/actual position)
and tries to control the drive such that it comes as close as possible to the specifica-
tions. For this purpose, an additional frequency is calculated for compensation of
position deviations. By setting the corresponding parameter, this frequency can be
limited. The parameter settings of the position controller determine how quick and
to what extent position deviations are to be compensated.
Via
Time Constant
deviation is to be compensated.
Via parameter
for compensation of the position deviation.
No.
1104 Time Constant
1118 Limitation
1)
Factory parameter setting
2)
Factory parameter setting
Example:
Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The posi-
tion controller will increase the motor frequency by 1000 Hz in order to compensate
the position deviation. Parameter
Controller block diagram
In order to avoid oscillations of the drive while it is at standstill, amplification is re-
duced to 50 % of the parameterized value for small position deviations.
60
1104, you can define the maximum time in which the position
1118, you can define to which value the speed is limited
Limitation
Parameters
Description
Configuration
Configuration
Amplification [%]
-0.25 0.00
-0.50
ACU
Modbus/TCP
Settings
Min. Max.
0.00 ms 300.00 ms
31
0 u/s 2 -1 u/s
30 = 240 or 540
30 = 440
1118 must be set accordingly.
Limitation
100
50
Control deviation
0.25 0.50
of position [°]
Factory setting
1)
10.00 ms
2)
100.00 ms
327 680 u/s
10/13