ABB ACSM1 Series, Manual

Page: 254 / 510

Parameters and firmware blocks
254
71.04 P CTRL FEED GAIN FW block: POS CONTROL (see above)
Defines the speed feed forward gain. The default gain value is suitable for most applications. In some
cases the gain can be used to compensate the difference between the reference position and actual
position caused by external disturbances.
0…10 Speed feed forward gain.
71.05 POS CTRL DELAY FW block: POS CONTROL (see above)
Defines the delay for the position reference. The selected number corresponds to the number of the
position control cycles: If parameter value is set to 1, the position reference used in the position error
calculation is the reference value updated during the previous position control cycle.
0…15 Delay for position reference.
71.06 POS ERR LIM FW block: POS CONTROL (see above)
Defines the absolute value for the position error supervision window. The drive trips on fault
POSITION ERROR if the position error is exceeded. The supervision is active when position feedback
is available.
The unit depends on parameter
60.05 POS UNIT selection.
Note: Position error supervision is not active in profile velocity mode.
0…32768 Absolute value for position error supervision window.
71.07 GEAR RATIO MUL FW block: POS CONTROL (see above)
Defines the numerator for the gear function between the position control (load side) and speed control
(motor side).
The gear function is formed from the motor gear function and inverted load gear function. The gear
function is applied to the position controller output (speed reference).
Note: When motor or load gear functions are set, the gear function must also be set.
See also sections Motor encoder gear function (page 54 ) and Load encoder gear function (page 61 ).
-2
31
…2
31
-1 Numerator for gear function.
71.08 GEAR RATIO DIV FW block: POS CONTROL (see above)
Defines the denominator for the gear function between the position control (load side) and speed
control (motor side). See parameter
71.07 GEAR RATIO MUL .
1…2
31
-1 Denominator for gear function.
71.09 FOLLOW ERR WIN FW block: POS CONTROL (see above)
Defines the position window for the following error supervision. The error is defined as the difference
between the reference and actual position. If the error is outside the defined window,
6.09 POS CTRL
STATUS bit 7 FOLLOW ERR is set to 1 (also 2.13 FBA MAIN SW bit 18 FOLLOWING ERROR is set
to 1). The supervision is active when position feedback is available.
The unit depends on parameter
60.05 POS UNIT selection.
0…32768 Position window for error supervision.
71.07 GEAR RATIO MUL
71.08 GEAR RATIO DIV
=
Motor speed
Load speed