User Manual
PD-x-1670 TMCL
™
Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29
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Position Regulation Parameters
Parameter Description
n
ACT U AL
Actual motor position (GAP 1)
n
T ARGET
Target motor position (SAP 0)
P
P ARAM
Position P parameter (SAP 230)
V
M AX
Max. allowed velocity (SAP 4)
V
T ARGET
New target velocity for the ramp generator (GAP 13)
Table 16: Position Regulation Parameters
6.5.2.1 Parametrizing the Position Regulation
Based on the velocity regulator, only the position regulator P has to be parameterized.
In order to parameterize the position regulator, do as follows:
1. Disable the velocity ramp generator and set position P parameter to zero.
2.
Choose a target position and increase the position P parameter until the motor reaches the target
position approximately.
3.
Switch on the velocity ramp generator. Based on the max. positioning velocity (axis parameter 4)
and the acceleration value (axis parameter 11) the ramp generator automatically calculates the slow
down point, i.e. the point at which the velocity has to be reduced in order to stop at the desired target
position.
4. Reaching the target position is signaled by setting the position end flag.
In order to minimize the time until this flag becomes set, the positioning tolerance MVP target reached
distance can be chosen with axis parameter 10.
Since the motor typically is assumed not to signal target reached when the target was just passed in a
short moment at a high velocity, additionally the maximum target reached velocity (MVP target reached
velocity) can be defined by axis parameter 7.
A value of zero for axis parameter 7 is the most universal, since it implies that the motor stands still at the
target. But when a fast rising of the position end flag is desired, a higher value for the MVP target reached
velocity parameter will save a lot of time. The best value should be tried out in the actual application.
6.5.3 Correlation of Axis Parameters 10 and 7, the Target Position and the Position End Flag
Depending on motor and mechanics, a low oscillation is normal. This can be reduced to at least +/-1 steps.
Without oscillation the regulation cannot keep the position!
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