Control Structure Positioning (Pos Mode) - Siemens SIMODRIVE POSMO A User Manual

3 Commissioning
3.3 Commissioning an axis
3.3.1

Control structure positioning (pos mode)

Description
P8
P9
P23
n
set
Program control word
(PSW.0)
s
set
–
P19
P10
P57
P15
P22
P23
Parameter
P8 Maximum speed
P9 Ramp–up time
P10 Maximum velocity
P13 Monitoring time (zero speed monitoring,
activation of holding and standstill controller)
P15 Backlash compensation
P16 Maximum overcurrent
P17 P gain, n controller
P18 Integral action time, n controller
P19 Kv factor (position loop gain)
P20 Current setpoint smoothing
P21 Speed setpoint smoothing
P22 Maximum acceleration
P23 Jerk time constant
P28 Maximum current
1)
P54 P gain, n controller, standstill (if P56.2 = 1, this was standard before SW 1.3)
1)
P57 P gain, holding controller, standstill (if P56.2 = 0, this was standard from SW 1.3)
Note:
Additional information on the parameters is provided in the parameter list.
––> Refer to Chapter 5.6.2
1)From SW 1.3 the factory presetting is "Holding controller active" (P56.2 = 0). The holding controller
is switched-in when the standstill monitoring function has been activated. We recommend that this
factory presetting remains unchanged. The holding controller has a standstill-optimized control
structure.
Fig. 3-9 Closed–loop structure for the "positioning" mode for SIMODRIVE POSMO A
3-92
The structure of the current/speed and position controller in the
"positioning" mode (pos mode) is shown in the following figure.
Closed–loop
speed controlled
3
0
n
1
set
P21
2
Closed–loop
position
controlled
Position controller
SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition
Speed
controller
Current
regulator
5
–
P17 P18 P20
P54
P16 P28
Measuring signals
1 Current actual value
2 Speed actual value
3 Speed setpoint
4 Position actual value
5 Current setpoint from the speed controller
6 Current setpoint smoothed
Note:
These signals can be output via the analog
measuring outputs.
––> Refer to Chapter 6.3
E Siemens AG 2013 All Rights Reserved
05.03 10.07 02.99
6
u
–
i
set
1
i
act
M
4
s
act