Allen-Bradley ControlLogix 1756-DMD30, User Manual, Page: 87 / 369

Publication 1756-UM522B-EN-P - February 2003
1756-DMD30 Specific Information B-7
Position Control - Point to Point
768 761 759 760
Po
sitReg P Gain
Pt-Pt Filt BW
Pt-Pt Accel
Time
Pt-Pt Decel
Time
Po
sition Control (4 ms)
P
oint-T
o-P
oint
Reref
758
740
10
0 1 2
742
Gear Rat
[ N ] [ D ]
745 746
Po
sitRef EGR Mul
Po
sitRef EGR Div
+
Rate Lim
753 754 755
LP
ass
Filter
756
740
04
740
05
744
+
747
Pt-Pt P
osit Ref
Po
sition Control
(Pt-Pt ReRef)
Po
sit Offset 1
Po
sit Offset 2
Po
sit Offset Spd
X Offst SpdFilt
Po
sition Control
(X Offset P
ol)
Po
sition Control
(X Offset Ref)
Po
sitRef EGR Out
Po
sition Cmmd
*
*
Po
sit Ref Sel
762
Mtr P
osit Fdbk
769
Po
sition Error
0
318
775 776
&
740
01
157
03
0
741
02
Po
sition Status
741
03
XReg Spd LoLim
XReg Spd HiLim
Po
sit Spd Output
to Speed Control - Regulator [3A2]
Po
int to P
oint P
osition
763
Act Motor P
osit
*
Po
sition Control
(Speed Out En) Logic Ctr
l State
(P
osition En)
1
See Inter
polated/Direct
Po
sition Control Diag
ra
m
Pa
g
e
5
Der
iv
∆
Accum
Σ
Accum
Σ
Der
iv
∆
Accum
Σ
Accum
Σ
740
06
Po
sition Control
(ActP
osit Rst)
If p740 b6 = 1 and the position regulator is NO
T enab
led,
accum
ulated v
alues are set to
the v
alue of p762.
If p740 b6 =
0 and the position regulator is NO
T enab
led, accum
ulated
v
alues are set to the ref
erence
v
alue
.
*
from Speed/P
osit
Fdbk [9H2]
Limit
(X Spd LLim) (X Spd HLim)
+ -
0
Logic Ctr
l State
(P
osition En)
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Logic Ctr
l State
[P
osition En]
157
03