Lenze 931E/K Small Drives Control - Manual (Page 146)

Appendix
Parameterisation of outside motors
Setting and optimising the position controller
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146 SW−HB 13.0002−EN 4.1
10.1.9 Setting and optimising the position controller
In addition to the speed controller, a higher−level position controller is active during
positioning which processes the deviations between setpoint and actual position and
implements them into corresponding setpoint selections for the speed controller. The
position controller generates a correction speed from the difference between setpoint and
actual position and transfers it as setpoint to the speed controller.
The position controller is used together with the positioning control. It is a P−controller
with parameterisable input and output limits.
Select the menu items Parameters
W Controller parameters W Position controller to open
the window for the parameterisation of the position controller:
931e_298
Enter the following values:
ƒ Gain:
Enter the proportional controller gain.
ƒ Max. correction speed:
Here you can select the maximum speed to be added to the traversing speed in case of
a deviation between setpoint and actual position. The value should be limited to
approx. +/−500 rev/min.
ƒ Dead range:
Here you can enter a permissible difference between setpoint and actual value within
which the position controller will not be activated. The setting of a dead range allows
to suppress limit vibrations which may occur with low−resolution encoders. If possible,
the dead range should be set to zero to reach the highest position accuracy.
ƒ Following error:
Following error and message delay parameter setting. If the difference between
setpoint and actual value exceeds the set limit value, a message or an error will be
activated. Go to error management and select the corresponding response.