Festo CiA 402 Manual page 71

4 Setting parameters
Index Object
6040 VAR
h
6041 VAR
h
Object 60FB : position_control_parameter_set
h
The parameter set of the motor controller must be adapted for the application. The data of the position
controller must be optimally determined during commissioning using the parametrisation software.
Caution
Incorrect setting of the position regulator parameters can result in strong vibrations and
destroy parts of the system!
The position controller compares the target position with the actual position and, from the difference,
creates a correction speed (object 60FA
The position controller is relatively slow, compared to the current and speed regulator. Therefore, the
controller works internally with activation, so the stabilisation work for the position controller is minim-
ised and the controller can rapidly stabilise.
A proportional link suffices as position controller. Amplification of the position controller must be multi-
plied by 256. With an amplification of 1.5 in the "Current Regulator" menu of the parametrisation soft-
ware, the value 384 must be written in the object position_control_gain.
Since the position controller already converts the smallest position deviations into appreciable correc-
tion speeds, in the case of a brief disturbance (e.g. brief jamming of the system) it would lead to very
major stabilisation processes with very large correction speeds. This can be avoided if the output of the
position controller is sensibly limited via the object position_control_v_max (e.g. 500 min
The size of a position deviation up to which the position controller will not intervene (dead space) can
be defined with the object position_error_tolerance_window. This can be used for stabilisation, such as
when there is play in the system.
Index
Name
Object Code
No. of Elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Name
controlword
statusword
: control_effort), which is fed to the speed regulator.
h
60FB
h
position_control_parameter_set
RECORD
5
01
h
position_control_gain
UINT16
rw
no
256 = "1"
0 ... 64*256 (16384)
52
Type Chapter
INT16 5.1.3 Control word (controlword)
UINT16 5.1.5 Statuswords
-1
).
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