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Programming and Parameters
PowerFlex 700S Phase II AC Drive User Manual -
Publication 20D-UM006G-EN-P – July 2008
760
Pt-Pt Decel Time
Deceleration time (sec) from base speed to zero, active only in point to point mode. Some
tailing can be expected at the end of a move as the drive comes into command position. It is
left to the user to select a time that does not place the drive in current or torque limit.
Deceleration from relatively low speed may be exponential.
Units:
Default:
Min/Max:
Sec
10.0000
0.1000/6553.5000
✓
RW Real
761
Pt-Pt Filt BW
Sets the bandwidth of a low pass filter which affects smoothness at the start of deceleration in
the point to point mode. A high filter bandwidth will produce a more square deceleration
torque, one with a higher level of jerk. Typical values range from 5 to 100 (rad/sec). A zero
value will bypass the filter. Tail-out is influenced mainly by
[Posit Reg P Gain].
Units:
Default:
Min/Max:
R/S
25.0000
0.0000/500.0000
✓
RW Real
762 Position
Fdbk
Displays the accumulated pulse count of the selected position feedback. Select a position
feedback device with
[PositionFdbk Sel].
Default:
Min/Max:
0
-/+2147483648
RO 32-bit
Integer
763
Position Actual
Displays the accumulated motor position as a 32-bit integer. It tracks
[Position Fdbk].
When the position regulator is not enabled, this parameter is initialized to Par 762 [Position
Fdbk] or to the selected position reference as determined by
[Position Control], bit 6
“AbsPositCtrl”.
Default:
Min/Max:
0
-/+2147483648
RO 32-bit
Integer
764
Posit Load Fdbk
Tracks the load position, as a 32-bit integer. When a gear box connects the load to the motor,
[Posit FB EGR Mul] and
[Posit FB EGR Div] must be set to account for the
gear ratio. Set Par 766 [Posit FB EGR Mul] equal to Par 767 [Posit FB EGR Div] if the load is
directly connected to the motor.
Default:
Min/Max:
0
-/+2147483648
✓
RW 32-bit
Integer
765
Posit Actl Load
Holds the accumulated output of the Load Gear Ratio as a 32-bit integer and forms the
primary feedback for the position regulator integral channel. It is very important that the load
gear ratio be precisely set such that the delta pulse count of one motor revolution equals the
delta pulse count of this parameter. When the position regulator is not enabled, this parameter
is initialized to
[Position Fdbk] or to the selected position reference as determined by
[Position Control], bit 6 “AbsPositCtrl”.
Default:
Mi/Max:
0
-/+2147483648
RO 32-bit
Integer
766
Posit FB EGR Mul
A 32-bit integer in the numerator of the load EGR function. It is multiplied by
[Posit
[Posit FB EGR Div] to reflect the load pulse count to the
motor (effectively removing the gear box ratio). The accumulated position values
[Posit Actl Load] will be equal if the ratio is set properly. There
may be some difference due to lost motion in the gear train, but there should not be an
accumulated difference. It is often necessary to count gear teeth as gear box manufacturers
often approximate exact ratios with decimal numbers. Enter a negative value in the numerator
to account for reversed motor rotation.
Default:
Min/Max:
1
-/+1000000
✓
RW 32-bit
Integer
767
Posit FB EGR Div
This is a 32-bit integer that forms the denominator of the load EGR function.
Default:
Min/Max:
1
1/2000000
RW 32-bit
Integer
768
PositReg P Gain
Sets position regulator gain as measured from position error to speed reference. The gain
number is identically equal to position regulator bandwidth in rad/sec. For example: A gain of
10 means that a per unit position error of 0.1 sec. will effect a 1.0 pu speed change (1 per unit
position error is the distance traveled in 1 sec. at base motor speed). The maximum value of
this parameter is typically 1/3 of the speed bandwidth (rad/sec) but may be set considerably
higher with careful tuning of the speed regulator output lead/lag filter.
Units:
Default:
Min/Max:
R/S
4.0000
0.0000/200.0000
✓
RW Real
769
Position Error
Actual position error in motor pulse counts. When the position regulator is not enabled, this
32-bit integer register is initialized to zero. When the position regulator is enabled, this
parameter contains the running value of position error, often referred to as “following error”.
Default:
Min/Max:
0
-/+2147483648
RO 32-bit
Integer
770
PositReg Integ
Sets position regulator integral gain as measured from position error to velocity reference. It
has gain units of (per unit velocity/sec) / (per unit position) and is unit compatible with
[PositReg P Gain]. An integral gain of 25 means that a per unit position error of 0.1 sec will
effect a 2.5 pu speed change per sec. A typical maximum value is _*[PositReg P Gain]2.
Note: 1 per unit position is the distance traveled in 1 sec. at base motor speed.
Units:
Default:
Min/Max:
/S2
4.0000
0.0000/1000.0000
✓
RW Real
771
PositReg Droop
Position Droop limits the low frequency gain of the position regulators integral channel to a
value of (1/droop). It provides a means to fine tune the stability for load mounted feedback
devices where lost motion may cause a problem. Typically, position droop will have a value
that is less than (1/position gain), perhaps even zero for tightly coupled loads. Position droop
has a gain value of (per unit position) / (per unit speed). Note: 1 per unit position is the
distance traveled in 1 sec. at base motor speed.
Default:
Min/Max:
0.0000
0.0000/0.2500
✓
RW Real
772
XReg Integ LoLim
The negative limit of the position regulator integral gain.
Units:
Default:
Min/Max:
Scale:
RPM
-176.4000
-14112.0000/0.0000
[Motor NP RPM] = 1.0pu
✓
RW Real
No.
Name
Description
Values
Linkab
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Da
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T
ype