Fuji Electric Frenic lift, Reference Manual

Page: 10 / 254

1.3 Reference Torque Command Generator
C
hap.
1
BL
O
C
K
D
IAG
R
AM
S
FO
R
C
ON
TR
OL
L
OGI
C
1.3 Reference Torque Command Generator
Filt
er t
ime const
ant
for
reference speed
(final
)
ASR
L
09
Ra
mp controller
Ra
ted speed
F
03
L
60
L
61
Digital torque bias command
TB
1
,
TB
2
Torque bia
s
(digita
l
1
)
Torque bia
s
(digita
l
2
)
Torque bia
s
(digita
l
3
)
L
62
L
63
L
64
Communicat
ions
link operation
y99
Loader link
funct
ion
H
30
Torque bias
(Mode
)
L
57
Torque bia
s
(Limiter
)
C
Reference speed
(final
)
C
Reference speed
(pre
-ramp
)
+
-
Hold torque bias
H
-
TB
Enable communicat
ions
link via
RS
485
or CAN
LE
Analog torque bias
×
Gain
-
200
%
0
,2
1
,3
Reference torque bias
0 1
Stop speed (Holding time
)
Stop speed
H
67
F
25
St
op speed
Multistep speed command
L
19
L
28
to
S
-
curv
e sett
ing
1
to
14
E
10
E
17
to
F
07
F
08
Accl
./
decl
.
time
1
to
10
，
，
Holding time
Allowable speed
L
29
L
30
Short
floor operation
S
-
curve accl
./
decl
.
time selector
Det
ect
ed speed
Filt
er time consta
nt
for det
ected speed
L
10
P const
ant a
t high speed
I const
ant a
t high speed
L
36
L
37
P const
ant a
t low speed
I const
ant a
t low speed
L
38
L
39
Switching speed
1
L
40
L
41
Switching speed
2
ASR
ASR feed forward ga
in
L
42
+
+
Js
Reference torque
F
44
Current limiter
L
52
St
arting torque
generat
or
Holding time
St
arting speed
F
24
F
23
St
arting speed
H
65
Soft
-
st
art time
F
23
St
arting speed
F
24
St
arting speed
holding time
H
65
St
arting speed
soft
-
st
art
time
St
art control mode
St
arting
operat
ion
selector
C
Motor speed
F
44
×
“
-
1
”
L
57
×
“
-
1
”
Reference speed
(pre
-ramp
)
H
57
H
60
to
Torque st
art mode
Speed start mode
OFF
ON
OFF
ON
L
54
200
%
PI
0
%
+
-
PI Torque bia
s
(P const
ant
)
PI Torque bia
s
(I constant
)
L
58
L
59
2
H
64
Zero speed control t
ime
x0
xx
(hex
)
x1
xx
(hex
)
CAN S
15
RS
485
Port
1
S
15
FRENIC loader
S
15
RS
485
Port
2
S
15
x2
xx
(hex
)
x3
xx
(hex
)
H
30
=
0
Speed command Run command Torque bias command
0:
F01
/Terminal
/L
54
1:
RS
-485
Ch
.1
2:
RS
-485
Ch
.2
3:
CAN
4-
F:
same as
0
L
57
Torque bia
s
(Limiter
)
L
57
×
“
-
1
”
1
r/min
0.
01
Hz
0.
01
r/min
0.
01
m
/min
0.
01
%
of F
03
Depending on C
21
0.
01
mm
/s
M
78
W
02
W
16
W
18
W
31
W
35
W
131
0.
01
r/min
0.
01
m
/min
0.
01
Hz
W
08
W
10
W
116
0.
01
mm
/s
W
130
1
r/min
0.
01
Hz
0.
01
%
of F
03
Depending on C
21
M
79
W
03
W
30
W
34
C
Reference torque bias
0.
01
%
1
%
M
74
W
24
C
Reference torque
0.
01
%
1
%
M
02
W
07
1
%
W
61
*
M
02
and W
07
show
calculated torque during open
-loop
control
.
Figure 1.2 Block Diagram of Reference Torque Command Generator
1-3