Position Controller Setting - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

9.4.3.3

Position controller setting

The position controllers must be set in the following sequence:
Set position controllers (P160, P163) to zero and start the positioning over a longer distance
The setpoint and target positions must be virtually identical at the end. Slight differences result
through the deactivated position controller.
Higher deviations might be caused by a maximum output velocity error or limits in the drive
system. To correct the errors, the sway control function can be deactivated by setting the
damping factors to zero (only possible with the conventional control method).
Set position controllers (P160, P163) and damping factors (P85, P86) to default values
All controllers must be set to have a low overshoot. This affects both the velocity and the target
position. This allows short rise times to be achieved.
The value of the position controller should not be greater than 0.5.
The value must be reduced if enabling the controller causes an oscillating velocity curve and an
overshoot at the target position.
Note
An overshoot at the target position is often the result of an incorrectly set maximum velocity, and
not of an excessively high position controller Kp factor. Consequently, before reducing the
position controller value in controlled operation (position controller is zero or manual operation),
it should be checked again whether the actual velocity is equal to the output velocity during
travel at constant velocity.
It is possible to switch to target control by using negative values for the position controller.
Target control is only compatible with the conventional control method. See also Chapter
Selection of the control method (Page 193).
In target control, the output velocity is determined by the value from the position controller, the
deceleration, and the distance from the target:
k : Position controller
R
a : Deceleration
s
Δs: Distance to the target
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
Commissioning AddOn Software
9.4 Sway control commissioning
345