Lenze E94P PositionServo with MVOB - Manual (Page 58)

56 L S94H201E_13426446_EN
Parameters
5.8 Position Limits
5.8.1 Position Error
Specifies the maximum allowable position error in the primary (motor mounted) feedback device before
enabling the “Max error time” clock. When using an encoder, the position error is in post-quadrature
encoder counts. When using a resolver, position error is measured at a fixed resolution of 65,536 counts
per motor revolution.
STOP!
If Position Error is set to 0, position error checking is disabled. Carefully evaluate the
application for safety aspects before disabling position error checking.
5.8.2 Max Error Time
Specifies maximum allowable time (in mS) during which a position error can exceed the value set for the
“Position error” parameter before a Position Error Excess fault is generated. If the Position Error is set to
the max setting then the drive will trip and not use the Error time when the error exceeds the above setting.
5.8.3 Soft Limits
Enables/disables the usage of a software defined limit. Do not enable this feature until after the drive is
homed for the specific application. Like all parameters, this setting can be set/reset logically within the
Indexer program.
Positive Limit
Soft limit switch location in User Units
Negative Limit Soft limit switch location in User Units
5.9 Compensation
5.9.1 Velocity P-gain (proportional)
Proportional gain adjusts the system’s overall response to a velocity error. The velocity error is the difference
between the commanded velocity of a motor shaft and the actual shaft velocity as measured by the primary
feedback device. By adjusting the proportional gain, the bandwidth of the drive is more closely matched to
the bandwidth of the control signal, ensuring more precise response of the servo loop to the input signal.
5.9.2 Velocity I-gain (integral)
The output of the velocity integral gain compensator is proportional to the accumulative error over cycle
time, with I-gain controlling how fast the error accumulates. Integral gain also increases the overall loop
gain at the lower frequencies, minimizing total error. Thus, its greatest effect is on a system running at low
speed, or in a steady state without rapid or frequent changes in velocity.
NOTE
The following 4 position gain settings are only active if the drive is operating in Position
mode. They have no effect in Velocity or Torque modes.