Vp position controller, extension of the setting range

Question:
How can in case of 9300 EP the setting range of the gain (Vp) of the position controller be extended in order to increase Vp-values to > 3.9999?

Answer:
In certain cases, e. g. when the encoder gear ratio (C1207) is set especially high, it can be necessary to set the gain of the position controller to values > 3.9999 in order to achieve a quick balancing of the following error in the target.

Solution: Extend the current following error 'POS-POUT' with factor in front of the position controller

• Switch function block 'PHDIV' between the function blocks POS and MCTRL (POS_POUT, MCTRL_PHI_SET).
• Under C0995 enter a negative value, e. g.: -4, consequently the following error will be multiplied by 2^4 = 16.
• The resulting gain factor of the position controller is calculated as follows: (C0254 x factor)
• In factor 16 the setting range for Vp is extended to approx.:  0...64.0

Certainly, the features of the controlled system (gear backlash, torsions, dead times, inertia ratio...) have influence, if higher gains can be set without oscillation of the drive.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/200414393/1/