ABB ACSM1 Series, Руководство по прошивке

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Control chain block diagrams
308
SP
EE
D E
RRO
R
SP
EE
D CONT
ROL
SPE
ED
RE
F
R
A
M
P
3
.0
1
S
P
EED
R
EF1
3.02
S
P
E
E
D
R
E
F
2
2
4
.0
5
SPE
ED
RE
F
1
/2
S
E
L
2
4
.0
6
SPE
ED
SHA
RE
2
4
.0
7
S
PEE
DREF
NEG
ENA
1
-1
2
4
.0
9
CO
NST
SPE
ED
ENA
24.1
0
S
P
E
E
D
R
E
F
JOG1
24.11
S
P
E
E
D RE
F
JO
G2
10.
13 F
B
C
W
U
S
E
D
bit 10
JOGGING
0
6
.0
2
S
T
A
T
US
WO
RD
2
bit 5 JOG
GING
24.0
8
C
ON
S
T
S
P
E
E
D
x
x
SP
EE
D RE
F
M
O
D
2
0
.0
3
PO
S
SP
EED
E
NA
0
20.02
MIN
IMU
M
S
P
E
E
D
2
0
.0
4
N
EG
SPE
ED
EN
A
0
0
6
.0
2
ST
A
T
US
WORD 2
bit 12 RA
MP
IN 0
Lo
cal
speed
refer
ence
0
6
.01 ST
A
T
US
WORD 1 b
it 11
L
O
C
AL
P
A
N
EL
46.0
2 S
P
E
E
D
R
E
F
S
A
F
E
SAF
E
SP
EE
D
CO
M
M
AND
06
.01 S
T
A
T
U
S
W
OR
D
1
bi
t
9 LOC
A
L
F
B
0
20.0
1 MA
X
IMU
M S
P
E
E
D
2.14
F
B
A
M
A
IN
R
E
F
1
24.1
2 S
P
E
E
D
R
E
F
MIN
A
B
S
3.07
A
CC COM
P
T
O
RQ
K
p
T
i
T
d
K
p
28
.04 DE
RIV
A
T
ION T
IM
E
2
8
.0
5
DE
RIV F
IL
T
T
IM
E
2
8
.02 P
ROP
ORT
GA
IN
28.07
DROOP
IN
G
RA
T
E
2
8
.0
8
BA
L
RE
F
E
RENCE
28
.03 INT
E
GRA
T
IO
N
T
IME
3
.0
8
T
ORQ REF
SP
C
T
RL
2
8
.1
1
M
A
X
T
O
RQ SP CT
RL
2
8
.10 M
IN T
O
RQ
S
P
CT
R
L
2
8
.0
9
SP
EEDCT
RL
BAL
E
N
+
+
+
d
dt
³
dt
x
2
8
.14 P
GA
IN A
D
P
T
COE
F
28
.15 I T
IME
A
D
P
T
COE
F
2
8
.1
2
P
I
A
D
AP
T
M
AX
S
P
D
28.
13 P
I A
D
A
P
T
M
IN
S
P
D
1
.0
1
S
PEE
D
ACT
F(
x)
06.0
5 LIM
IT
W
OR
D
1
bi
t 1
S
P
D
C
T
L T
L
IM
MIN
06.0
5 LIM
IT
W
OR
D
1
bi
t 2
S
P
D
C
T
L T
L
IM
MA
X
0
6
.0
5
S
P
EED
C
TRL
ST
AT
bi
t 4
B
A
L A
C
T
IV
E
3
.0
6
S
P
E
E
D
ERROR
F
IL
T
2
6
.0
5
SPE
ED
ST
EP
2
6
.0
6
SP
D
ERR F
T
IM
E
20.
01 MA
X
IMU
M
S
P
E
E
D
2
0
.02 M
IN
IMU
M
S
P
E
E
D
T
AccCo
m
2
6
.0
8
ACC COM
P
DER T
IM
E
2
6
.09 ACC COM
P
F
T
IM
E
d
dt
0
06.02
S
T
A
T
U
S
W
OR
D
2 bi
t 14
R
A
M
P
OU
T
0
06.02
S
T
A
T
U
S
W
O
R
D
2 b
it
12 R
A
MP
IN
0
+
-
2
6
.1
0
SP
EED
WI
N
F
UNC
26.11
S
P
E
E
D
W
IN
H
I
2
6
.1
2
S
PEE
D
WIN
L
O
4.0
1
S
P
E
E
D
R
E
F
P
OS
2
6
.0
4
SPE
ED
F
EED
P
C
TRL
22.0
4 MOT
OR GE
A
R DIV
22.03
MOT
O
R
G
E
A
R
MU
L
2
2
.0
2
SPE
ED
AC
T
F
T
IM
E
22.01
S
P
E
E
D
F
B
S
E
L
1
.1
4
S
PE
ED
E
S
T
IM
AT
ED
1
.0
8
ENCODER
1
S
P
E
E
D
1
.1
0
E
NCODER
2
SP
EED
1
.0
1
SP
EED
A
C
T
OP
M
O
DE
=
POSIT
ION S
Y
NCRON
x y
0
3
.0
4
SP
EED
R
EF
R
A
M
P
E
D
SPE
ED
PO
SI
T
IO
N
SYN
CHRON
HOM
ING
PRO
F
VEL
6.12
OP
M
O
DE
ACK
+
0
R
a
mp
&
S
hap
e
0
3
.0
3
SPE
EDRE
F
RA
M
P
I
N
2
5
.0
2
SP
EED
S
C
AL
IN
G
25
.03 A
C
C
T
IM
E
25.0
4 D
E
C
TIME
2
5
.0
5
SHA
PE
T
IM
E
ACC1
25.06
S
H
A
P
E
T
IME
A
C
C
2
2
5
.0
7
S
HAPE
T
IM
E DEC1
2
5
.0
8
SHA
PE
T
IM
E
D
EC2
25.10
DE
C
T
IME
JOGGING
25.
11 E
M S
T
OP
T
IME
2
5
.1
2
S
PEE
DREF
B
A
L
2
5
.1
3
S
P
EEDR
EF
B
AL
ENA
2
5
.09 A
CC T
IME
JOGGING
0
06
.01 S
T
A
T
U
S
W
OR
D
1
b
it 5 E
M
S
T
O
P
0
6
.0
2
ST
AT
US WORD 2
bit 5 JO
GGING
OR
0
6
.0
2
ST
A
T
US
WORD 2
bit 1
4
RA
M
P
OUT
0
06.02
S
T
A
T
U
S
W
O
R
D
2
bi
t 13
R
A
MP
HOLD
0
SP
EE
D F
E
E
D
B
A
CK
ZE
R
O
AI
1
AI
2
FB
A
R
E
F1
FB
A
R
E
F2
D2
D
REF
1
D2
D
REF
2
ENC
1
S
PEE
D
ENC
2
S
PEE
D
2
4
.0
1
SPE
ED
REF
1
S
E
L
ZE
R
O
AI
1
AI
2
FB
A
R
E
F1
FB
A
R
E
F2
D2
D
REF
1
D2
D
REF
2
ENC
1
S
PEE
D
ENC
2
S
PEE
D
2
4
.0
2
SPE
ED
REF
2
SEL
Sp
ee
d c
o
nt
ro
l c
h
ai
n