Position Control Object
Parameter | Default value | Unit | Description |
|---|---|---|---|
Position Loop Type | P_POSITION_STANDSTILL | OFF: Disables the Position Loop control, no commands will be passed onto the velocity loop. P_POSITION: enables the loop but only with Kp values. P_POSITION_STANDSTILL: Kp is used while in motion, KP_Standstill will be used after the mover is in Standstill (according to Standstill Switch Time Parameter) P_POSITION_STANDSTILL_AREA: provides all 3 parameter sets Kp used while moving, Kp_standstill after Standstill is reached, while the mover is in an enabled Control Area, Kp_Area and Kp_Area_Standstill will be used according to the area configuration | |
Kp | 0.03 | 1/s | Proportional Gain used while not overridden by another parameter. Never Set below 0.0075 |
Kp_standstill | 0.02 | 1/s | Proportional Gain used when standstill is enabled and the mover has had a command velocity of 0 for longer than SoftDriveStandStill.SwitchTime and the mover is not under area control Never Set below 0.0075 |
Kp_area | 0.015 | 1/s | Proportional Gain used when the axis is within the Hardware Position range as defined by the Control Area settings and the axis is not at standstill Never Set Below 0.0075 |
Kp_area_standstill | 0.015 | 1/s | Proportional Gain used when the axis is within the Hardware Position range as defined by the Control Area settings and the axis is at standstill determined the Soft Drive Standstill Switch Time parameter Never Set Below 0.0075 |
Pos Loop Filter | 75 | Hz | First Order Filter cut off frequency for the Position loop input |
A lower frequency filter value reduces the response of the position loop increasing the delay between command and action. (Actions less than Cut off Hz are filtered out) but the system will then see less noise in the signal and not respond to this. Increasing the cut off frequency will increase the reaction of the control loop but the system more noise will be let through and the system will respond to this noise. This is very rarely changed | |||
Pos Loop Filter_area | 75 | Hz | Same functionality as above. The First Order Filter for the Position loop input when area control is enabled and the mover is in the area defined by SoftDriveControlArea. Again very rarely changed |