Control functions

Position controller

Position controller

Switching the position controller on/off

Default value: On

Index: 50012.1

IEC name: Controller.PositionController.Config.xDisable

P gain

Position controller gain for minimizing lag errors

Index: 50012.2

IEC name: Controller.PositionController.Config.lrPGain

Maximum negative acceleration

INFORMATION: Only visible in expert mode.

Maximum negative acceleration

Index: 50012.4

IEC name: _fbController._fbPositionController.stConfig.lrAccDecMin

Maximum positive acceleration

INFORMATION: Only visible in expert mode.

Maximum positive acceleration

Index: 50012.5

IEC name: _fbController._fbPositionController.stConfig.lrAccDecMax

Balance controller

Balancing priority

• Torque
• Skew
• Skew without overload guard
• User-defined skew error
• User-defined speed correction values
• User-defined speed correction values with diagnostics

Index: 50011.11

IEC name: Controller.MAC.Config.ePriority

Operating mode setting

P gain

Factor for increasing torque balancing

Default value: 100%

Index: 50011.15

IEC name: Controller.MAC.Config.TorqueLeveling.lrScaleFactor

Slip limiter

Enable anti-slip control.

• Not active
• Active

Index: 50011.12

IEC name: Controller.MAC.Config.TorqueLeveling.xSlipVelLimiterON

Curve travel

Optimization of torque balancing for cornering:

• None
• In positive direction of travel
• In negative direction of travel

Index: 50011.27

IEC name: -

Maximum slip speed

INFORMATION: Only visible when the slip limiter is active.

Speed limitation for the slip limiter (in user units)

Default value: 5% of the "Speed" application limit

Index: 50011.13

IEC name: Controller.MAC.Config.TorqueLeveling.lrSlipVelMaxMin

Advanced settings

Actual torque filter time

INFORMATION: Only visible in expert mode.

Filter for smoothing the actual torque of all axis group members in [s]

Index: 50011.28

IEC name: -

Time constant

INFORMATION: Only visible in expert mode.

Time constant of the balance controller in [s]

Calculation: 1/P gain²

Index: 50011.14

IEC name: Controller.MAC.Config.TorqueLeveling.lrTimeConstant

Torque ratios

The ratio between the torque of one axis group member and the torque of the remaining axis group members. The number of setting fields displayed depends on the number of subordinate axis group members. See also Torque ratios.

INFORMATION: The value does not have a unit, i.e. the information 50%: 50%, 2 : 2 or 3 Nm : 3 Nm have the same effect.

Index: 50011.1-4

IEC name: Controller.Config.TorqueRelation.lrAGMember1-4

Torque between axis group participants

Torque difference (preload) between the respective axis group members in [%/nominal motor torque]. The number of setting fields displayed depends on the number of subordinate axis group members. See also Torque between axis group members.

Index: 50011.5-8

IEC name:

Controller.Config.TorqueBetween.lrAGMember1_2

Controller.Config.TorqueBetween.lrAGMember2_3

Controller.Config.TorqueBetween.lrAGMember3_4

Controller.Config.TorqueBetween.lrAGMember4_1

Balance controller

Allow skew compensation

INFORMATION: Only visible in the "Skew with/without overload guard" operating mode.

• Manual – Skew correction must be enabled in the IEC/fieldbus using xEnableSkewing.
• With setpoints active – Skew correction starts automatically when the inverters switch to control.

Index: 50011.25

IEC name: Controller.MAC.Config.SkewLeveling.eEnableSkewing

P gain

Factor for increasing skew balancing

Index: 50011.18

IEC name: Controller.MAC.Config.SkewLeveling.lrPGain

Limit speed and limit deceleration for skew balancing

Limit the speed and deceleration of the "Skew priority" operating mode (lrSkewMaxMin and lrAccDecSkewMaxMin)

• Not active
• Active

Index: 50011.19

IEC name: Controller.MAC.Config.SkewLeveling.xVelDecLimiterON

Limit acceleration for skew balancing

Activation of limit acceleration of skew balancing

• Not active
• Active

Index: 50011.20

IEC name: Controller.MAC.Config.SkewLeveling.xAccLimiterON

Maximum balancing acceleration/deceleration

INFORMATION: Only visible when limit speed and deceleration of skew balancing is active or limit acceleration of skew balancing is active.

Acceleration or deceleration limitation for skew balancing (in user units)

Default value: 10% of the "Acceleration/deceleration" application limit

Index: 50011.21

IEC name: Controller.MAC.Config.SkewLeveling.lrAccDecMaxMin

Maximum balancing speed

INFORMATION: Only visible with active limit speed and deceleration of skew balancing.

Speed limitation for skew balancing (in user units)

Default value: 10% of the "Speed" application limit

Index: 50011.22

IEC name: Controller.MAC.Config.SkewLeveling.lrVelMaxMin