Lenze 931M-931W - Manual (Page 82)

Parameter setting
Position controller (position control function)
Description of the objects
7

82 KHB 13.0003-EN 2.0
Index Name Possible settings Characteristics
Lenze Selection Description
60FB
h
Position_control_
parameter_set
1 position_control_
gain
1 0 {16384} 2 VAR UINT16 RW —
Setting the position
controller gain.
K
p
= 1 (corresponds to
16384).
The position controller
compares the setpoint
position with the actual
position and - considering the
gain - calculates a correction
speed from the difference
that is sent to the speed
controller.
The position controller is also
used for following error
control.
2 position_control_
end_time
10 0 {1 ms} 65535 VAR UINT16 RW —
Setting the position control
end time.
This is the time the motor
continues to be actively
energised after reaching the
target position to hold the
target position.
The input of 0 means that
the motor is permanently
energised.
6063
h
0 position_actual_
value
-2 31 {1 inc} 2 31 -1 VAR INT32 RO MAP
Reading the actual position.
The phase-angle encoder
sends the actual position
value to the position
controller.
The unit can be set via the
factor group.
6064
h
0 position_actual_
value
-2 31 {position units} 2 31 -1 VAR INT32 RO MAP
Reading the actual position.
The phase-angle encoder
sends the actual position
value to the position
controller.