Technical data

Configuration
CPU 317T: Technology Functions
4-66 A5E00251798-03
4.5.9 Control
4.5.9.1 Position control
Static and dynamic controller data and friction compensation are configured in the
Axis > Control dialogs.
Set the "Expert mode" check box to indicate in addition to the "Static controller
data" tab, the "Dynamic controller data" and "Friction compensation" tabs.
The controller and monitoring functions are enabled when position control is
active. Following error monitoring is disabled in torque limiting mode.
The controllers are inactive when position control is disabled, for example, in
following mode. Encoder systems, actual value calculation and monitoring
functions influence the actual values. Compensating functions are ignored.
4.5.9.2 Static controller data
Select the "Static controller data" tab from the Axis > Closed-loop control dialog
box to adjust the position control of the axes.