Position controller
The position controller implemented in the motion axis serves to close the position control loop in the control system, e.g. when using a second external encoder.
- The lower-level drive is operated in a speed-controlled way.
- The position controller is calculated in the control system.
- The use of the position controller can be activated via subindex 90 .
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The source for the actual position value (
of the position encoders to be used) can be selected in subindex
92
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Note!
Please make sure that the units of the encoder (adjustable in the mechanical parameters of the encoder axis) and the units of the used motion axis have the same reference/scaling, i.e. a unit of the encoder corresponds to a unit of the motion axis.
When a separate position encoder is used and a homing is executed with touch probe, the TP inputs of the drive are not available. Only one external TP source (e.g. Fast I/O or a simple digital input) can be used. For this purpose, the TP event (subindex
80
) "External source" has to be selected and the "MC_TriggerRef" structure has to be configured manually
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Connection of the sensors/limit switches
Standard control mode (subindex 90)
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Setting of the default control mode. If "0 - Position control motor encoder" is selected, the actual values of the motor encoder are always used. For all other selections, the selection of the position encoder (subindex 92) determines the source of the actual values. |
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Selection list (Lenze setting printed in bold) |
Info |
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0 |
Position control motor encoder |
Use position control of the drive |
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1 |
Position control ext. position encoder |
Use position control of the PLC |
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10 |
Speed control (closed loop) |
Use speed control of the drive |
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UNSIGNED_16 |
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Current control mode (subindex 91)
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Current control mode |
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Selection list (read only; initialisation printed in bold) |
Info |
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0 |
Position control motor encoder |
Position control of the drive |
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1 |
Position control ext. position encoder |
Position control of the PLC |
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10 |
Speed control (closed loop) |
Speed control of the drive |
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20 |
Torque control |
Torque control of the drive |
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UNSIGNED_16 |
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Position controller: Ext. position encoder (subindex 92)
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Selection of the position encoder the actual value of which is to be used for control in the "Position control in the control system". In the "Drive speed control" setting of the standard control type (subindex 90), the actual values are also used by the position encoder selected here. All encoders (encoders on the backplane bus or free encoders) available in the application are displayed for selection. The selection '-' means that the actual position value of the connected drive is used. |
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Setting range (min. value | unit | max. value) |
Lenze setting |
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- |
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VISIBLE_STRING |
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Position controller: Gain (subindex 93)
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Gain factor of position controller |
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
1/s |
2147483647 |
20 1/s |
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FLOAT_64 |
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Position controller: Limitation (subindex 94)
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Output limitation of position controller |
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
Unit/s |
2147483647 |
100000.0 Unit/s |
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FLOAT_64 |
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Position controller: Output (subindex 95)
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Display area (min. value | unit | max. value) |
Initialization |
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Unit/s |
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0 Unit/s |
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FLOAT_64 |
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