Optimizing Position Controller (Pd.2); Teach - Function (Pd.1); Teach-Function (Pd.1) - KEB COMBIVERT F4-F Applications Manual

Functional Description
Limit of position controller
S-curve time (Pd.5)
Acceleration time (Pd.6)
Maximum speed (Pd.7)
Angular difference (ru.27)
6.11.13 Optimizing Posi-
tion Controller
(Pd.2)
6.11.14 Teach - Function
(Pd.1)
Chapter Section Page
6 11 10
Adjustment of the speed difference which the position controller may add to the profile
(Pd.3) of the speed precontrol. The maximum setpoint speed for the positioning is calculated
from Pd.7 + Pd.3. Pd.3 can be set to 0,0...500,0 revolutions.
For positionings that require a jerk-free starting s-curves are adjustable with Pd.5,
which are executed during acceleration and deceleration. The total acceleration time
is calculated from Pd.6 + Pd.5 (see Fig. 6.11.11). The S-curve time is adjustable in
the range of 0,01...8,00 s.
Adjusts the acceleration time in the range of 0,01...8,00 s. In case the torque limit is
reached during a positioning procedure the required torque can be lowered by
extending the acceleration time.
With Pd.7 the maximum speed of the precontrol profile is defined. The adjusted value
may be exceeded maximally by the speed difference of the position controller (Pd.3).
But the absolute maximum frequencies (SP.8 / SP .9) cannot be exceeded.
At activated positioning module the contouring error (deviation of actual position to
setpoint profile) is indicated in ru.27 in steps of 0.1 degree.
With Pd.2 the position controller can be individually optimized for every approached
position. Provided that the total position adjustment supplies satisfactory results, an
optimization can be become necessary in following cases:
• target position is not reached
• drive moves beyond the target position and returns then
This may be caused by a position controller which is adjusted too smooth.With Pd.2
the controller can be adjusted in the range of 0....65535 (default value 20).
With the Teach-function positions are manually approached and stored in the
respective set by switching from Pd.1 to „3". The Teach-function is only possible for
absolute setpoint positions.
Procedure:
• Activate positioning module (Pc.0 = 1)
• Deactive positioning (Pd.0 = 0)
• Approach the desired position at low speed (e.g. with jogging)
• Select the set, in which the position shall be stored (by way of digital
inputs or parameter Fr.4)
• Actual position is stored as setpoint position in the selected set (switch
Pd.1 to 3)
• Approach the next position
• Select the next set
• Actual position is stored as setpoint position in the selected set (switch
Pd.1 to 3 )
• and so forth
Name: Basis
Date
KEB COMBIVERT F4-F
17.06.99
Positioning Module
© KEB Antriebstechnik, 1999
All Rights reserved