Operating instructions

Functions, monitoring, and protective functions
9.4 Extended functions
Drive converter cabinet units
Operating Instructions, 10/2008, A5E00288214A
367
9.4.5.2 Closed-loop position controller
Description
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without pre-control. This connector input is pre-connected with connector output
p2540.
The position controller is enabled by an AND link of the binector inputs p2549 (position
controller 1 enable) and p2550 (position controller 2 enable).
The position setpoint filter (p2533 position setpoint filter time constants) is a PT1 element,
the balancing filter a dead time element (p2535 balancing filter speed feedforward control
(dead time)) and PT1 member(p2536 balancing filter speed feedforward control (PT1)). The
speed feedforward control p2534 (speed feedforward control factor) can be deactivated
using the value 0.
Note
We recommend that only experts use the functions of the position controller without using
the basic positioner.
Function diagram
FD 4015 Position controller
Parameters
• p2533
LR position setpoint filter time constants
• p2534
LR speed feedforward control factor
• p2535
LR speed feedforward control balancing filter dead time
• p2536
LR speed feedforward control balancing filter PT1
• p2537
CI: LR position control adaptation
• p2538
LR proportional gain
• p2539
LR integral time
• p2540
CO: LR position controller output speed limit
• p2541
CI: LR position controller output speed limit signal source