ABB ACSM1 Series, Руководство пользователя

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Appendix E – Control chain and drive logic diagrams
504
POS REF LIM
6
0
.04
LO
AD GE
AR DEN
60.
03
LOA
D
GEAR
N
U
M
1.0
9 ENCODER 1 POSITION
1.1
1 ENCODER 2 POSITION
60.
01
POS
ACT SE
L
60.
06
F
EED CONST NUM
6
0
.0
7
F
E
ED
C
ON
ST
D
E
N
1.1
3 PO
S 2
N
D
E
N
C
X
x y x y
1
.12
POS
AC
T
PO
S FEEDBACK
65
.04
PO
S
REF 1
SE
L
65
.19
PO
S
REF 1
65
.20
PO
S
REF 2
65
.12
PO
S
REF 2
SE
L
65
.19
POS
REF 1
65
.20
POS
REF 2
65
.02
PROF S
E
T SE
L
6
5
.2
3 P
R
OF VEL
REF1
6.1
2 OP
MODE ACK
6
5
.0
3 P
OS
START 1
65.
05
POS
SPE
ED
1
6
5
.0
6 P
R
OF ACC 1
6
5
.0
7 P
R
OF DEC 1
65.
08
PROF FILT
TIME
1
65.
09 P
O
S
STYLE
1
65.
10
POS
EN
D
SPE
ED
1
6
5
.1
1 P
OS
START 2
65.
13
POS
SPE
ED
2
6
5
.1
4 P
R
OF ACC 2
6
5
.1
5 P
R
OF DEC 2
65.
16
PROF FILT
TIME
2
65.
17 P
O
S
STYLE
2
65.
18
POS
EN
D
SPE
ED
2
OR
65.
24
POS
START M
O
DE
10
.13
FB CW
USED
B
it
25
POS
START
10
.13
FB CW
USED
B
24
CH
G
SET I
M
M
E
D
2
.15
FBA
MA
IN REF2
(Fieldb
us se
t spe
ed
)
PL
C
block se
t
2.1
4 FB
A MAIN REF1
(Fi
e
ldbu
s set
po
s
it
io
n)
PL
C block
set
Po
s ref lo
cal
0
6
.0
1
S
T
A
T
US
W
O
RD
1
Bi
t 1
1
L
OC
AL
PAN
EL
ZERO AI1 AI2 FBA RE
F
1
FBA RE
F
2
D2
D REF1
D2
D REF2
POS
REF1
POS
REF2
65
.21
PO
S
REF
AD
D
SEL
REF
TABL
E
BL
O
C
K
FI
EL
DBUS
65
.01
POS
REFSO
U
RCE
ZERO AI1 AI2 FB REF1 FB REF2 D
2
D REF1
D
2
D REF2
POS
REF 1
POS
REF 2
+
REF TAB
LE
BLO
CK
F
IEL
DB
US
65
.0
1
PO
S
R
E
FSOURC
E
ZERO AI
1
AI
2
FBA
REF1
FBA
REF2
D2
D REF1
D2
D REF2
PO
S VE
L R
E
F
65.
22
PR
OF
VEL
REF SE
L
PROFIL
E REF SEL
RE
FE
REN
CE
TRIGGE
RING
LOGI
C
PROF
ACC
PR
OF
DE
C
PROF
F
ILT TIME
POS
REF
POS
START
POS
STYL
E
POS
EN
D
SP
EED
POS
SPE
ED
PROFILE GE
NERATOR
4.0
7 P
O
S S
PEE
D
4.0
8 P
R
O
F
ACC
4.0
9 P
R
O
F
DEC
+
4
.12
POS
EN
D
SP
EED
66.
02
PR
OF SP
EED
M
U
L
6
6
.0
3 P
R
OF ACC W
EAK
SP
4.
14
DI
ST TGT
x
4.1
0 PROF
F
ILT TIME
0
OR
6
.09
POS
C
TRL
STA
TUS
B
it
3 P
O
S E
N
ABL
ED
66
.05
POS
EN
A
B
L
E
4
.11
POS
STYL
E
IP
O
4.
06
POS
RE
F
FIR
4.1
8 SY
N
C
E
R
R
O
R
71.
05
POS
CTR
L
DE
LAY
71.0
P
CTRL FEED GAIN
4
.20
SP
EED FEE
D FWD
71
.08
GEA
R
R
A
TIO DEN
71
.07
GEA
R
R
A
TIO NUM
z
-x
x y
4
.02
SP
EED A
C
T
L
OAD
1.0
1 S
PEED A
CT
x
4.
19
POS
ER
R
O
R
71
.02
POS
CTRL GA
IN
-
d
dt
4.1
7 P
OS REF
LIMITED
+
+
x y x y
4.0
1 S
PEE
D
RE
F POS
POS CONTROL
70
.0
7
SY
NC
E
RR
L
IM
F
L
T 42
POS
ITION
ER
RO
R
SYN
C
ABS
a b
a>
b
a=
b
a<
b
Dynamic Limiter
7
0
.0
6
P
O
S
DE
CE
L
L
IM
70
.05
PO
S
AC
C
E
L
LIM
7
0.0
4 P
O
S S
PEE
D
LIM
70.
03
POS
REF ENA
³
dt
³
dt
0
+
d
dt
d
dt
+
MAX
20
.01
M
AXIM
U
M
SPE
ED
2
0.0
2 M
IN
IM
U
M
SPEE
D
MIN
7
0
.0
4 P
O
S
SPEE
D
LIM
NE
G
4.
13
POS
RE
F IPO
4.
16
SYNC REF GE
ARED
68.
04
SYN
C
GE
AR
AD
D
68.
02
SYN
C
GEA
R
MU
L
6
8
.0
3 S
Y
NC GEA
R
D
IV
68.
05
SYNC REF FTIM
E
68
.06
SY
N
C
FIL
T
D
LY
L
IM
6
8
.0
7 SY
N
CHRON MODE
6
7
.0
3 I
N
TE
R
P
OLA
T MODE
6
7
.0
4 I
N
TE
R
P
OLA
T CYCLE
F(x)
ZERO AI1 AI2 FBA REF1 FBA REF2 D
2
D REF1
D
2
D REF2
Re
s
e
rv
ed
POS
2N
D
EN
C
VIRT M
AST
67
.01
SY
N
C
RE
F SEL
d
dt
³
dt
x
x y
4
.15
SY
NC RE
F UNGE
A
R
SYNC R
E
F MOD
4
.21
SY
NC RE
F IN
Position
cont
rol chain