Lenze 931W - Manual (Page 43)

Software implementation and parameter setting
Travel data sets menu
Controller type
5
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43 HB 13.0001-EN 3.0
5.6 Travel data sets menu
In the ”Travel data sets” menu, the functions of the individual steps are defined. An
individual controller type (following error, speed, torque, or position control), individual
ramps for acceleration and brakes, an individual speed and torque values, as well as the
subsequent travel data set can be assigned to each travel data set.
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5.6.1 Controller type
Via the controller type, the basic mode of operation of the respective travel data set is
defined, whereby in practice often a specific position or speed is set. In the following, the
individual controller types are specified.
ƒ Following error
In the case of the following error control, a following error controller is superimposed on
the speed controller, setting the current following error which is calculated from the
integral of the deviation between the speed setpoint and the actual speed value to 0. The
following error control therefore is a specific form of the speed control.
ƒ
Speed
In the case of the ”Speed” controller type, a mere speed control with regard to the set speed
setpoint is effected, whereby the following error in the case of speed deviations is not
compensated.
ƒ Torque
This controller type is a form of current control, where maximally the set torque can be
released.
ƒ Absolute position