6.5.3.3 Position controller source
The source for the position information is determined with co04 position source:
The position control can be done - switchable with co04 position source - via en-
coder at the motor or via second encoder or the estimated position of the motor
model.
6.5.3.4 Position controller gear factor
A gear ratio between this second encoder and drive is compensated with ps35 and
ps36. This gear factor primarily affects the precontrol in operating modes with ac-
tive position controller.
The position controller output (standard position controller and standstill position
controller) is also converted with the gear factor. This means: the output value of
the position controller is 200 rpm with an angular deviation of 1/10 revolution at the
position encoder and Kp of 2000 rpm. If the motor rotates 5 times faster than the
position encoder due to a gear, the output of the position controller is multiplied
with 5, the position controller output value for the set motor speed is 1000 rpm.
Following error
The following error st36 following error can be monitored in all operating modes
with active position controller.
If the limit of ps12 (CiA 0x6065) following error window is exceeded and addition-
ally the preset time in ps13 (CiA 0x6066) following error time out has elapsed, bit
13 "following error“ is set in the status word.
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