AB Quality Allen-Bradley 1394, User Manual

Page: 165 / 301

Publication 1394-5.0 — May 2000
Configuring Your 1394 Analog Servo System 8-29
Figure 8.2
1394 Analog Servo Software Diagram (part 2)
FEEDBA
CK
SCALING
FEEDBA
CK
A
CCUMULA
T
O
R
POSITION FEEDBA
CK
244
RESOL
VR TURNS
216
RESOL
VR POSN
156
CCW O
VSPD
VEL
152
CW O
VSPD
VEL
O
VERSPEED
DETECT
FL
T
O
VERSPEED
Id GENERA
TION
172
Id RPM ST
AR
T
176
Id RPM END
180
Id SLOPE
236
Id CUR REF
FEEDBA
CK FIL
TER
144
LD/LG DEGREES
148
LD/LG FREQ
140
VEL LO
WP
AS BW
224
VEL FEEDBA
CK
D/A 2 GAIN
D/A 2
V
ALUE
13
+/- 10v
(10V = 128)
X
+
+
11
Velocity Feedback
Velocity Feedback (filtered)
V
t
A
U
T
O
TUNE CUR
A
U
T
O
TUNE VEL
LIM
288
284
A
U
T
O
TUNE
IDLE
SYSTEM TUNE
CALCULA
TE
300
A
U
T
O
TUNE FRICTION
FRICTION COMP
0 1 2
296
A
U
T
O
TUNE SELECT
0 1 2 3
256
VEL D
AMP SELECT
0.87 1.00 0.70 1.40
296
A
U
T
O
TUNE
SELECT
(CALCULA
TE)
A
U
T
O
GAIN CHANGE
304
252
108
DESIRED
VEL BW
BW MAX
MO
T
O
R
INER
TIA
(mSEC)
Wa
(140)
Ki
(372)
Kp
(368)
RA
TELIM
(192)
A
U
T
O
TUNE INER
TIA
292
D
AMPING F
A
CT
OR SELECT
OR
ZET
A