Technical data

Drive functions
7.3 Function modules
Function Manual
216 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
7.3.5 Closed-loop position control
7.3.5.1 General features
The position controller essentially comprises the following parts:
● Position actual value conditioning (including the lower-level measuring probe evaluation
and reference mark search)
● Position controller (including limits, adaptation and the pre-control calculation)
● Monitoring functions (including standstill, positioning, dynamic following error monitoring
and cam signals)
● Position tracking of the load gear (motor encoder), using absolute encoders for rotary
axes (modulo) as for linear axes.
7.3.5.2 Position actual value conditioning
Features
● Correction value (p2512, p2513)
● Setting value (p2514, p2515)
● Position offset (p2516)
● Position actual value (r2521)
● Velocity actual value (r2522)
● Motor revolutions (p2504)
● Load revolutions (p2505)
● Spindle pitch (p2506)
● Position tracking (p2720ff)
Description
The position actual value conditioning implements the conditioning of the position actual
value in a neutral position unit LU (LENGTH UNIT). To do this, the function block uses the
encoder evaluation/motor control with the available encoder interfaces Gn_XIST1,
Gn_XIST2, Gn_STW and Gn_ZSW. These just provide position information in encoder
pulses and fine resolution (increments).
The position actual value is conditioned immediately after the system has booted, regardless
of whether the position controller is enabled, as soon as valid values are received via the
encoder interface.
Parameter p2502 (encoder assignment) is used to define from which encoder (1 or 2), the
position actual value is sensed.