Positioning Control (Pos) - Lenze 9300 System Manual

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Function library
7.5

Positioning control (POS)

Purpose
The function block "positioning control (POS)" is the core of the 9300 servo position controller. It
controls positioning in the controller.
Fig. 7-12 Function block POS
7-24
P O S - S T A R T - P S
C 1 3 6 2 / 1
C 1 3 6 3 / 1
P O S - P R G - S T A R T
C 1 3 6 0 / 1
C 1 3 6 1 / 1
C 1 2 8 0 . B 0
P O S - P R G - S T O P
C 1 3 6 0 / 2
³ 1
C 1 3 6 1 / 2
C 1 2 8 0 . B 1
P O S - P R G - R E S E T
C 1 3 6 0 / 3
³ 1
C 1 3 6 1 / 3
C 1 2 8 0 . B 2
P O S - P S - C A N C E L
C 1 3 6 0 / 1 5 C 1 3 6 1 / 1 5
C 1 2 8 0 . B 3
P O S - S T D B Y - S T P
C 1 3 6 0 / 1 6
C 1 3 6 1 / 1 6
P O S - M A N U A L
C 1 3 6 0 / 6
³ 1
C 1 3 6 1 / 6
C 1 2 8 0 . B 4
P O S - M A N U - N E G
C 1 3 6 0 / 7
³ 1
C 1 3 6 1 / 7
C 1 2 8 0 . B 5
P O S - M A N U - P O S
C 1 3 6 0 / 8
³ 1
C 1 3 6 1 / 8
C 1 2 8 0 . B 6
P O S - M A N U - R E F
C 1 3 6 0 / 9
³ 1
C 1 3 6 1 / 9
C 1 2 8 0 . B 7
P O S - R E F - M A R K
C 1 3 6 0 / 1 0
C 1 3 6 1 / 1 0
P O S - W A I T S T A T E
C 1 3 6 0 / 2 2
C 1 3 6 1 / 2 2
P O S - L I M - N E G
C 1 3 6 0 / 4
C 1 3 6 1 / 4
P O S - L I M - P O S
C 1 3 6 0 / 5
C 1 3 6 1 / 5
M C T R L -
P O S - P A R A M - R D
C 1 3 6 0 / 1 8
C 1 3 6 1 / 1 8
P O S - S - R A M P S
C 1 3 6 0 / 1 7
C 1 3 6 1 / 1 7
P O S - J E R K - R E D
C 1 3 6 2 / 8
C 1 3 6 3 / 8
P O S - - O V E R R I D
C 1 3 6 2 / 2
C 1 3 6 3 / 2
P O S - - O V E R R I D
C 1 3 6 2 / 3
C 1 3 6 3 / 3
P O S - L O O P - I N H
C 1 3 6 0 / 1 9
C 1 3 6 1 / 1 9
P O S - P S E T - E X T
C 1 3 6 4 / 1
C 1 3 6 5 / 1
( f r o m p a t h c o n t r o l u n i t )
P O S - P S E T - S W T
C 1 3 6 0 / 2 0
C 1 3 6 1 / 2 0
P O S - M O U T - G A I N
C 1 3 6 2 / 7
C 1 3 6 3 / 7
( I n f l u e n c e o f f e e d f o r w a r d v a l u e s )
P O S - N O U T - G A I N
C 1 3 6 2 / 5
C 1 3 6 3 / 5
P O S - A B S - S E T
C 1 3 6 0 / 2 1
C 1 3 6 1 / 2 1
P O S - A B S - I N +
C 1 3 6 4 / 2
C 1 3 6 5 / 2
+
P O S - P H I - A D D
C 1 3 6 6 / 1
1
S e t
C 1 3 6 7 / 1
M C T R L - P H I - A C T
0
( f e e d b a c k s e l e c t e d u n d e r C 4 9 0 )
( G e n e r a t i o n o f a c t u a l p o s i t i o n )
P O S - N - I N
C 1 3 6 2 / 4
C 1 3 6 3 / 4
P O S - P - I N
C 1 3 6 4 / 3
C 1 3 6 5 / 3
( E x t e r n a l s e t v a l u e s f o r s t a n d - b y o p e r a t i o n )
P O S - M - I N
C 1 3 6 2 / 6
C 1 3 6 3 / 6
EDSVS9332P-D21 EN 3.0
³ 1
C 1 2 1 2
³ 1
V a r i a b l e t a b l e s ( V T )
C 1 3 0 1 / 1 C 1 3 0 2 / 1
C 1 3 0 1 / 1 0 4 C 1 3 0 2 / 3 4
P r o g r a m s e t s ( P S )
C 1 3 1 1 / 1
C 1 3 1 2 / 1
C 1 3 4 9 / 1
S E T P O S
=
&
T A R G E T
D C T R L -
- O U T
( L a t c h e d p r o f i l e v a l u e s )
S p e e d p r o f i l e r
C 1 2 2 0 / 1
( V a l u e s f o l l o w i n g t h e p r o f i l e )
V S E T = 0
A S E T = 0
1 0
C 1 2 2 0 / 2
V S E T - E X T
S E T P O S - E X T
A S E T - E X T
1 0
( V i r t u a l m a s t e r f u n c t i o n )
+
h o m e p o s i t i o n
C 1 2 2 7 -
C 1 2 2 1 / 8
h o m e o f f s e t
( T o u c h P r o b e )
C 1 2 2 5
C 1 2 2 1 / 7
+ -
+ +
( S p e e d )
( F o l l o w i n g e r r o r )
( T o r q u e )
P O S - R U N N I N G
P O S - S T A R T E D
P O S - S T O P P E D
P O S - E N D E D
P O S - R E S E T E D
P O S - A C T - P S - N O
C 1 3 0 3 / 1 C 1 3 0 4 / 1 C 1 3 0 5 / 1
C 1 3 0 3 / 3 4 C 1 3 0 4 / 3 4 C 1 3 0 5 / 3 4
C 1 3 1 1 / 3 2
C 1 3 1 2 / 3 2
C 1 3 4 9 / 3 2
P O S - R E F - O K
P O S - I N - T A R G E T
P O S - V T R A V - R E A
P O S - V F I N - R E A C
P O S - A C C - R A M P
P O S - D C C - R A M P
P O S - M A N U - A C T
P O S - T A R G E T
C 1 2 2 1 / 1
P O S - V T R A V
C 1 2 4 5 / 2
P O S - V F I N A L
C 1 2 4 5 / 3
P O S - A C C
C 1 2 5 5 / 2
P O S - D C C
C 1 2 5 5 / 3
P O S - A S E T
C 1 2 5 5 / 1
P O S - V S E T
C 1 2 4 5 / 1
P O S - S E T P O S
C 1 2 2 1 / 2
P O S - N S E T
P O S - P H I - S E T
P O S - S T D B Y - A C T
( P 1 4 t o l e r a n c e )
C 1 2 1 8 / 1
P O S - P O U T - N O R M
P O S - A B S - V A L
C 1 2 2 0 / 1 6 C 1 2 2 1 / 1 6
P O S - A C T P O S
C 1 2 2 0 / 3 C 1 2 2 1 / 3
0
P O S - N O U T
1
0
P O S - P O U T
1
C 1 2 2 0 / 4 C 1 2 2 1 / 4
0
P O S - M O U T
1
9300POS001
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