Parameters and firmware blocks2227171 POSITION CTRLFirmware block:POS CONTROL(71)This block• selects the sources for the actualand reference position inputs of theposition controller• defines the position control loopgain and the speed feed forwardgain• defines a delay for the positionreference• configures position errorsupervision• shows the speed reference,position error and position speedreference multiplied by the speedfeed forward gain.Block outputs located in otherparameter groups4.01 SPEED REF POS (page 89)4.19 POS ERROR (page 90)4.20 SPEED FEED FWD (page 90)71.01 POS ACT IN FW block: POS CONTROL (see above)Selects the source for the actual position input of the position controller. The default value is P.1.12,i.e. signal 1.12 POS ACT, which is an output of the POS FEEDBACK firmware block (see page 192).Value pointer: Group and index.71.02 POS CTRL REF IN FW block: POS CONTROL (see above)Selects the source for the position reference input of the position controller. The default value isP.4.17, i.e. signal 4.17 POS REF LIMITED, which is the output of the POS REF LIM firmware block(see page 219).Note: This parameter has been locked, i.e. no user setting is possible.Value pointer: Group and index.71.03 POS CTRL GAIN FW block: POS CONTROL (see above)Defines the gain for the position control loop. A value of 1 produces a 1 rev/s speed reference whenthe position difference between the reference and actual position is 1 revolution.0…10000 1/s Gain for position control loop.71.04 P CTRL FEED GAIN FW block: POS CONTROL (see above)Defines the speed feed forward gain. The default gain value is suitable for most applications. In somecases the gain can be used to compensate the difference between the reference position and actualposition caused by external disturbances.0…10 Speed feed forward gain.POS CONTROL 11TLF4 500 μsec (3)< 71.01 POS ACT IN[ POS ACT ](11 / 1.12)< 71.02 POS CTRL REF INPOS REF LIMITED(11 / 4.17)71.03 POS CTRL GAIN[ 10.00 1/s ]71.04 P CTRL FEED GAIN[ 1.00 ]71.05 POS CTRL DELAY[ 0 ]71.06 POS ERR LIM[ 32768.000 rev ]71.07 GEAR RATIO MUL[ 1 ]71.08 GEAR RATIO DIV[ 1 ]71.09 FOLLOW ERR WIN[ 32768.000 rev ]4.01 SPEED REF POS4.19 POS ERROR4.20 SPEED FEED FWD
