Lenze 931K - Manual (Page 66)

Commissioning
Position control
Running through the state machine
6
l
66 KHB 13.0002−EN 4.1
6.3.2 Running through the state machine
When the homing run has been performed, the position control can be executed. This
requires that the target position is defined. In addition the position controller, the required
control accuracy, and the ramps and the speed for the profile generator must be
parameterised.
No. Description Identi
fier
Control
field
Comma
nd code
Index Subin
dex
Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Definition of the operating mode
For the operating mode
(modes_of_operation), the position
control (01) is selected. 601 5 2F 60 60 00 01 00 00 00
2 Setting of the position controller (K
p
)
A gain (position_control_gain) of K
p
= 2
(corresponds to 0200
h
) is selected.
601 6 2B FB 60 01 00 02 00 00
3 Setting of the maximum positioning
speed
The maximum speed
(position_control_v_max) is set to
1000 rpm. 601 8 23 FB 60 04 E8 03 00 00
4 Definition of the profile speed
The profile velocity is used to define the
travelling speed of the positioning
process (v = 100 rpm). 601 8 23 81 60 00 64 00 00 00
5 Definition of the final speed
The end_velocity is used to define the
travelling speed at the end of the
positioning process.
Must be set to 0 m/s! 601 8 23 82 60 00 00 00 00 00
6 Setting of the profile acceleration
The profile_acceleration object is used
to define the acceleration. 601 8 23 83 60 00 10 27 00 00
7 Setting of the profile deceleration
The profile_deceleration object is used
to define the deceleration. 601 8 23 84 60 00 10 27 00 00
8 Setting of the position window
The position window
(position_error_tolerance_window) is
used to define a range in which the drive
controller does not intervene.
One revolution corresponds to an entry
of 65536. Here 1/100 rev (655) is
entered. 601 8 23 FB 60 05 8F 02 00 00
9 Definition of the position window
The target position (target_position) is
assumed to be reached if the actual
position of the position controller
(position_actual_value) is within a
window (position_window) around the
target position. The value selected is
1/100 rev. 601 8 23 67 60 00 8F 02 00 00
10 Definition of the position time
If the actual position is within the
position window for the time specified
here (position_window_time), the
target reached bit is set in the status
word. The time is set to 100 ms. 601 6 2B 68 60 00 64 00 00 00
Tab. 9 Parameterisation of the position control