Pos_P_Gain

General

Functional Description

The parameter is used to enter the proportional gain of the position controller. It defines how much the reference velocity must be adapted to a deviation of the actual position from the reference position (tracking deviation).

If 0 is entered here, the tracking deviation monitoring (diagnostic message 8111 Tracking deviation shutdown and 8132 Tracking deviation limit exceeded) of the servo amplifier is switched off. The maximum value of the parameter is 100 m/min/mm.

The tracking deviation can be reduced by increasing Pos_P_Gain. However, if the value is too high it may lead to the control loop becoming unstable. The value for which the stability limit is reached is dependent of the parameters of the velocity controller and the properties of the mechanics. To achieve a low tracking deviation, optimal conditions must be determined.

NOTE: The parameter value is transferred from the master to the slave via the parameter channel of the Sercos at every access. Typically, this takes about 10 ms. However, times up to 1 s may be realized if large amounts of data are transferred on the parameter channel.

NOTE: This parameter can be determined as of firmware version V01.35.x.0 by using the AutoTune automatic controller optimization.

This parameter has no effect for asynchronous motors in open-loop V / f mode (ControlMode = open-loop control / 1).