Closed-Loop Position Control - Siemens SINAMICS S150 Operating Instructions Manual

9.4.5

Closed-loop position control

Description
The "Closed-loop position control" function module includes:
● Actual position value preparation (including subordinate measuring probe evaluation and
● Position controller (including limitation, adaptation and pre-control calculation)
● Monitoring (including zero-speed, positioning, dynamic following error monitoring system
● Position tracking of the load gearbox (motor encoder) when using absolute encoders for
Actual position value calculation for distance-coded measuring systems is not yet available.
Commissioning
The "Closed-loop position control" function module can be activated using the drive
characteristics dialog.
When the "basic positioner" function module (r0108.4 = 1) is activated, the "closed-loop
position control" function module (r0108.3) is automatically activated.
The current configuration can be checked in parameter r0108.3.
The position controller can be parameterized in a user-friendly fashion using the screen
forms in STARTER.
The "closed-loop position control" function module is essential for operating the basic
positioner.
Note
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond.
To prevent this from happening, the position controller must be disabled (p2550 = 0) and
tracking mode must be activated (p2655 = 1, for control using PROFIdrive telegram 110
PosSTW.0 = 1). In this way, the monitoring functions are switched off and the position
setpoint is tracked.
Function diagram
FD 4010
FD 4015
FD 4020
FD 4025
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A
reference mark search)
and cam signals)
rotary axes (modulo)
Actual position value preparation
Position controller
Zero-speed / positioning monitoring
Dynamic following error monitoring, cam controllers
Functions, monitoring, and protective functions
9.4 Extended functions
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