Parameters and firmware blocks252Group 71 POSITION CTRLSettings for the position controller.The position controller calculates a speed reference that is used to minimise thedifference between position reference and actual values. The user can set thecontroller gain, the feed forward value and a cyclical delay between the referenceand the actual value. The output of the position controller has a gear for transferringposition and speed data from the load side to the motor side.The position controller also supervises the error between the reference position andactual position in position and synchron control modes. The drive trips on aPOSITION ERROR fault if the limit (71.06 POS ERR LIM) is exceeded.71.05 POS CTRL DELAY+71.03 P CTRL FEED GAIN4.17 POS REF LIMITED 4.01 SPEED REF POS4.20 SPEED FEED FWD1.12 POS ACT71.08 GEAR RATIO DEN71.07 GEAR RATIO NUMz -x xyxy4.02 SPEED ACT LOAD1.01 SPEED ACTxyx4.19 POS ERROR71.02 POS CTRL GAIN+ -ddt
