Menu 13: Position Control - Control Techniques Digitax ST Advanced User's Manual

Parameter Keypad and Parameter Advanced parameter Serial comms Electronic
Menu 13 Parameter x.00 Performance
structure display description format descriptions protocol nameplate
5.15

Menu 13: Position control

Menu 13 provides a position control system for the drive. The position reference can be taken from the drive encoder, from a position feedback
module or from a local reference defined in this menu. The reference includes a relative jog function that can be used to advance or retard the
position reference at a defined speed and a ratio that can scale the reference. The feedback position can be taken from the drive encoder or from a
position feedback module. As well as giving position control the controller can provide shaft orientation within one revolution in conjunction with the
drive sequencer (see section 5.8 Menu 6: Sequencer and clock on page 88). The sample time for the position controller is 4ms and the output is
supplied to the speed reference every 4ms.
The position controller outputs are a velocity feed forward and a speed reference (both in 0.1rpm units). When the position controller is selected (i.e.
Pr 13.10 is non-zero) these values are written directly to the velocity feed forward (Pr 1.39) and hard speed reference (Pr 3.22) respectively. Also the
hard speed reference select (Pr 3.23) is forced to a one and the velocity feed forward select (Pr 1.40) is set to one when a controller mode giving
velocity feed forward is selected. When the position controller is de-selected (i.e. Pr 13.10 is changed to zero) Pr 1.39, Pr 1.40, Pr 3.22 and Pr 3.23
are set to zero.
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