Owner manual

Parameter setting
Position controller (position control function)
Description of the objects
7
l 84
KHB 13.0002−EN 4.1
Fig. 15 shows the definition of the window function for the "position reached" message.
The positioning range between x
i
−x
0
and x
i
+x
0
is defined symmetrically around the target
position (target_position) x
i
. The positions x
t0
and x
t1
are, for instance, located within this
position window (position_window). When the drive enters this window, a timer is started
in the controller. When the timer has reached the time specified in the
position_window_time object and the drive has not left the valid range between x
i
−x
0
and
x
i
+x
0
during this time, then bit 10 target_reached of the status word is set. If the drive
leaves the valid range, both bit 10 and the timer are set to zero.
x-x
i0
x+x
i0
position x
x
i
x
t0
x
t1
931e_419
Fig. 15 Position reached
7.6.2 Description of the objects
The parameter set of the drive controller has to be adapted to the application. At the
commissioning of the system, the data of the position controller has to be optimised by
means of the Small Drive Control program.
( Stop!
Uncontrolled vibrations
Incorrect settings of the position controller parameters can cause heavy
vibrations.
Possible consequences:
ƒ Parts of the system may be damaged.
Protective measures:
ƒ Before switching on the drive controller, ensure that the position controller
parameters are correctly set.