Tab: SoftMotion Drive – Position Control

fSetPosition

Set position value

D

The dead time determines the number of cycles that the received actual position (encoder) is phase-shifted to the set position of the axis. The dead time depends on the applied components and has to be determined by trial and error.

For more information, see: Determining the dead time of the system

fActPosition

Actual position value

Bit width

The bit width of the actual value is received depending on the used components and can be set as 16, 24, or 32-bit values.

Max

: Position error monitoring is activated.

Input of the maximum permitted lag

If this value is exceeded during operation, then the axis goes into an error state.

Kp

The constant of proportionality is the factor by which the position error (the deviation between set and actual position) is multiplied to be added later to the set velocity.

fSetVelocity

Set velocity value

fActPosition and velocity output have opposite directions

: If the velocity output and the current position have an opposing direction, then this is corrected by activating the option.

Application [t.u./s]

Minimum and maximum velocity value (in application units) for example 3600 rotations per second.

Output value

Minimum and maximum output value that is sent to the actuator (e.g. 16#7FFF).