Operating instructions
110 Application manual Positioning 04/08
4.12 Position Controller
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 specifica-
tions. 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 parameter
Time Constant 1104, you can define the maximum time in which the
position deviation is to be compensated.
Via parameter
Limitation 1118, you can define to which value the speed is limited
for compensation of the position deviation.
Parameter Setting
No. Description Min. Max. Fact. sett.
1104 Time Constant 0.00 ms 300.00 ms
10.00 ms
1)
100.00 ms
2)
1118 Limitation 0 u/s 2
31
-1 u/s 327 680 u/s
1)
Factory setting for selection Configuration 30 = 240 or 540
2)
Factory setting for selection Configuration 30 = 440
Example:
Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The posi-
tion controller will increase the motor frequency by 1000 Hz in order to compensate
the position deviation. Parameter
Limitation 1118 must be set accordingly.
Controller block diagram
Trajectory
generator
Position
Controller
Acce
l
eration
Pre-Controller
Speed Controller
Limitation
1118
(Position Controller)
Speed Controller
Limitation
f
Ref
∆
f
PC
s
Ref
s
A
ct
f
Act
+
++
+
+
-
-
isq
Ref,SC
isq
Ref
isq
Re f,APC
Application manual Positioning 04/08110