0X5F17/N Position Controller - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

12.4.21 0x5F17/n Position Controller

Index Sub-index
0x5F17 0
1
2
Object works in:
Motion Control:
•
All modes
o
The position controller evaluates the positioning operation (target/actual position) and
tries to control the drive such that it comes as close as possible to the specifications.
For this purpose, an additional frequency is calculated for compensation of position
deviations. By setting the corresponding parameter, this frequency can be limited. The
parameter settings of the position controller determine how quick and to what extent
position deviations are to be compensated.
Via the
the position deviation is to be compensated.
Via parameter
is limited for compensation of the position deviation.
NOTE
The Output of the Position Controller is not limited by
amount
Motion Profile generation. Caused by the addition of the Profile generator reference
speed and the output of the Position Controller higher frequencies than
speed*
Maximum speed*
missioning.
Chapter 16.5 contains conversion formulas between Hz, rpm and u/s.
Bonfiglioli Vectron recommends:
•
the
Limitation
the Maximum frequency.
*)
Maximum speed
quency
frequency
sioning.
The values of Objects 0x5F17/n are limited as follows:
No.
0x5F17/1 Position Controller: Time Constant
0x5F17/2 Position Controller: Limitation
Alternatively the parameters 1104 and 1118 can be used instead of the Objects.
0x5F17/1 Position Controller: Time Constant
0x5F17/2 Position Controller: Limitation
07/13
Meaning
Highest sub-index supported
Time Constant
Limitation
Position Controller:Time Constant
Position Controller:Limitation
(or
Maximum frequency
can occur.
and
Limitation
Set to 90 % of the mechanical rated speed and
Maximum speed*
1118 of the Position Controller to the value corresponding to 10 % of
refers to either
419. It is set either via
419 [Hz].
Maximum frequency
Object
Object
Object
CM-EtherCAT
Data type
Unsigned8
Integer32
Unsigned32
Object doesn't work in:
Non motion Control (conf. ≠ x40)
•
, you can define the maximum time in which
, you can define to which value the speed
419). The
Maximum speed*
1118 must be set for fitting values during the com-
Velocity max amount
0x6046/2
Velocity max amount
0x6046/2
419 is usually set up during motor commis-
1,00 ms
1104
1118
Access Map Def.-Val
ro No
rw No 10,00 ms
rw No 327680
Velocity max
0x6046/2
limits the value of the
Maximum
or
Maximum fre-
[rpm] or
Maximum
Setting
Min. Max.
300,00 ms
2147483647
0
(= 0x7FFF FFFF)
Parameter
Time Constant
Limitation
2
65