PositionControlKpGain

General

Type	EF
Offline editable	Yes
Devices supporting the parameter	Lexium MC Carrier
Traceable	Yes

Functional Description

The parameter PositionControlKpGain represents the gain setting for the position control of the carrier in 1/s.

The default value of the parameter is 50 1/s.

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).

By increasing the PositionControlKpGain, the tracking deviation can be reduced. However, if the value of the parameter is excessive, this may lead to the control loop becoming unstable. The value for which the stability limit is reached depends on the parameters of the velocity controller and the properties of the mechanics. To achieve a low tracking deviation, optimal conditions must be determined.

WARNING
	UNintendeD Equipment OPERATION Test adjustments made to any control parameters prior to putting the equipment into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The carrier-specific setting of the PositionControlKpGain can be enabled by the parameter EnableGainSettings.

NOTE: The parameter PositionControlKpGain is not mapped to the cyclic Sercos data of the carrier.

Unit	Data type	Meaning
1/s	LREAL	The gain setting for the position control of the carrier in units per second (1/s).