Setting The Position Controller; Precontrol And Gain - Siemens SINAMICS G120D Original Instructions Manual

Setting functions
8.6 Basic positioner and position control
8.6.5

Setting the position controller

8.6.5.1

Precontrol and gain

Preconditions and constraints
Before you optimize the position controller, the closed-loop drive speed control must be
optimally set.
Dynamic response and accuracy of the closed-loop position control depend heavily on the
lower-level closed-loop or open-loop control or the motor speed:
● Position control in connection with an optimally set vector control with speed encoder
provides the best results.
● Position control with encoderless vector control (sensorless vector control, SLVC)
provides satisfactory results for most applications. Hoisting/lifting applications require a
speed controller.
● If you operate the position control with the U/f control of drive, then you must take into
account some significant reduction in closed-loop control performance and precision.
Position controllers in hoisting gear
U/f control is not suitable for vertical axes, such as elevating platforms or hoisting gear used
in high-bay racking units, as the axis generally cannot reach the target position as a result of
the limited precision of the U/f control.
Description
Figure 8-21
If the speed control of the converter has an encoder to feedback the actual speed, then
deactivate the integral component T
If you use the position control together with the encoderless vector control (SLVC,
SensorLess Vector Control), the positioning accuracy may be inadequate. With active
integral time, positioning accuracy improves.
158
Position controller with precontrol
of the position controller.
N
Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA
Converter with control units CU250D-2