ABB ACSM1 Series, Руководство пользователя

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Parameters and firmware blocks
253
71
Firmware block:
POS CONTROL
(71)
This block
• selects the sources for the actual
and reference position inputs of the
position controller
• defines the position control loop
gain and the speed feed forward
gain
• defines a delay for the position
reference
• configures position error
supervision
• shows the speed reference,
position error and position speed
reference multiplied by the speed
feed forward gain
• defines the gear ratio between load
and motor
• defines the following error window.
Block outputs located in other
parameter groups 4.01 SPEED REF POS (page 103 )
4.19 POS ERROR (page 104 )
4.20 SPEED FEED FWD (page 104 )
71.01 POS ACT IN FW block: POS CONTROL (see above)
Selects the source for the actual position input of the position controller. The default value is P.1.12, ie,
parameter
1.12 POS ACT , which is an output of the POS FEEDBACK firmware block (see page 219 ).
Value pointer: Group and index.
71.02 POS CTRL REF IN FW block: POS CONTROL (see above)
Selects the source for the position reference input of the position controller. The default value is
P.4.17, ie, parameter
4.17 POS REF LIMITED , which is the output of the POS REF LIM firmware
block (see page 250 ).
Note: This parameter has been locked, ie, no user setting is possible.
Value pointer: Group and index.
71.03 POS CTRL GAIN FW block: POS CONTROL (see above)
Defines the gain for the position control loop. A value of 1 produces a 1 rev/s speed reference when
the position difference between the reference and actual position is 1 revolution.
0…10000 1/s Gain for position control loop.
POS CONTROL
11
TLF4 500 μsec (3)
< 71.01 POS ACT IN
[ POS ACT ]
(11 / 1.12)
< 71.02 POS CTRL REF IN
POS REF LIMITED
(11 / 4.17)
71.03 POS CTRL GAIN
[ 10.00 1/s ]
71.04 P CTRL FEED GAIN
[ 1.00 ]
71.05 POS CTRL DELAY
[ 0 ]
71.06 POS ERR LIM
[ 32768.000 rev ]
71.07 GEAR RATIO MUL
[ 1 ]
71.08 GEAR RATIO DIV
[ 1 ]
71.09 FOLLOW ERR WIN
[ 32768.000 rev ]
4.01 SPEED REF POS
4.19 POS ERROR
4.20 SPEED FEED FWD