FCB 09 Position control

FCB 09 is used for positioning to make it possible to use a position profile for reaching the target position. This position profile is parameterized by the profile generator.

The inverter additionally provides several positioning modes, which are described as follows:

Absolute positioning:

The position setpoint in user units is interpreted as an absolute target and is converted and executed in system units.

The travel range in system units is -2³¹ to 2³¹ -1. If the travel range is exceeded after calculation, the FCB issues an error.

Relative positioning:

The position setpoint in user units is interpreted as the offset for the last setpoint that was transferred. After it has been converted into system units, it is added to the last setpoint.

If the time calculated in system units is outside the travel range of -2³¹ to 2³¹ -1, the FCB issues a fault.

Modulo in positive direction with absolute position specification:

The position setpoint in user units is interpreted as the absolute position. It must be within the modulo range of the active drive:

Lower limit = "Modulo min."

Upper limit = "Modulo max."

If the position setpoint is outside this range, an error is issued. The drive always turns in a positive direction to reach the position.

Modulo in negative direction with absolute position specification:

The position setpoint in user units is interpreted as the absolute position. It must be within the modulo range of the active drive:

Lower limit = "Modulo min."

Upper limit = "Modulo max."

If the position setpoint is outside this range, an error is issued. The drive always turns in a negative direction to reach the position.

Modulo with shortest distance with absolute position specification:

The position setpoint in user units is interpreted as the absolute position. It must be within the modulo range of the active drive:

Lower limit = "Modulo min."

Upper limit = "Modulo max."

If the position setpoint is outside this range, an error is issued.

The direction of the drive is determined using the last setpoint position ( = current actual position after activation without an "In position" message) and the current setpoint position. From here, the shortest distance is determined and the direction of rotation for positioning is specified accordingly.