controller operation. By way of index (1) reduction of the I-component is activated
(see table). With P 2672[0] - CON_PRC_OUTSEL = 3 the process controller delivers
an additive position reference value. The rate limiter limits the possible control
variable change. The control variable change each time interval by the process
controller results in a speed change on the motor shaft.
Example
The amount of the process controller to change the speed on the motor shaft should
not be higher than 100 revolutions per minute. To achieve this, the value of
parameter P 2680[0] - CON_PRC_RateLimiter must be parameterized with a value
corresponding to the user unit. The unit of this parameter is [x/ms]. The x stands for
the respective unit of the process controller output variable. In this example the
control variable (additive position reference) has the unit "Increments" (see also
P 270[0] - MPRO_FG_PosNorm). This parameter indicates how many increments
correspond to one motor revolution.
Conversion from [rpm] to [Inc/ms]
n
change
= 100 rpm
P 270[0] - MPRO_FG_PosNorm in inc/rev
Internal position resolution = 1048576 inc/rev (default)
To reduce the integral term, the same method is applicable P 2680[1] - CON_PRC_
Rate Limiter [Inc/ms]).
P 2680[0] - CON_PRC_Rate Limiter = n
change
*1048576 *1/60000
P 2680[0] [Inc/ms] = 100 [rpm] * P 270[0] [Inc/rev] * 1/60 [min/s*] * 1/1000 [s/ms]
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
158
7 Control
7.10.4 Parameters
ID
Index Name
Unit Description
2659
0
CON_PRC_Kp
Process control gain
2660
0
CON_PRC_KP_SCALE
%
Process control gain scaling factor
2661
0
CON_PRC_Tn
ms
Process control integration time constant
2662
0
CON_PRC_
REFOFFSET
Offset for process controller output
2663
0
CON_PRC_LIMPOS
Positive limitation of the actuating variable
2664
0
CON_PRC_LIMNEG
Negative limitation of the actuating variable
2665
0
CON_PRC_CDIFF_
SIGN
Process control sign adaptation
2666
0
CON_PRC_REFVAL
Process control reference value
2667
0
CON_PRC_REFSCALE
Reference value scaling factor
2668
0
CON_PRC_ACTSEL
Selection of source for actual value
2669
0
CON_PRC_
ACTOFFSET
Input calibration: Offset
2670
0
CON_PRC_ACTTF
ms
Time constant for filtering the actual value
2671
0
CON_PRC_ACTSCALE
Scaling of filtered input signal
2672
0
CON_PRC_OUTSEL
Selection of process control output
2673
0
CON_PRC_RAW_
ACTVAL
Actual value of input signal
2674
0
CON_PRC_ACTVAL
Input signal after scaling and filtering
2675
0
CON_PRC_CDIFF
Process control system deviation
2676
0
CON_PRC_OUTVAL
Process control output value
2677
0
CON_PRC_ACTVAL_
FIELDBUS
Actual fieldbus value
2678
0
CON_PRC_OUTSEL_
MOPRO
Process control output for motion profile
2679
0
CON_PRC_RefReached USER Reference-reached window
2680
CON_PRC_RateLimiter
Process control slope limitation
2680
0
CON_PRC_RateLimiter
x/ms
Slope limitation (Process)
2680
1
CON_PRC_RateLimiter
x/ms
Slope limitation (Reset integral part)
2681
0
CON_PRC_CtrlWord
Process control: Control word
Table 7.3
7
: “Process controller” parameters
