Actual speed-based standstill detection for QSP with position control

With C104/1 bit5=TRUE and activated 'Position control at standstill', the current actual position will only be accepted as setpoint if the speed setpoint n_set ≤ 0rpm and the actual speed n_act ≤│1rpm│.

With the Lenze setting C104/1 bit5=FALSE and activated 'Position control at standstill' (C104/1 bit0=TRUE), the current actual position will be accepted as setpoint if the speed setpoint n_set ≤ 0rpm. If, due to the application, the axis cannot follow the speed setpoint during QSP deceleration, e.g. because the torque/current limitation has been reached, the actual position may be accepted as setpoint for the position controller while the axis is still rotating. This will result in a following error which when compensated may cause a turn-back of the motor.

Activating the option C104/1 bit5=TRUE 'Standstill depending on actual speed' prevents this compensation movement.