Rockwell Automation PowerFlex 700S, Руководство пользователя, Страница: 249 / 318

Control Block Diagrams B-15
PowerFlex 700S Phase II AC Drive User Manual - Publication 20D-UM006G-EN-P – July 2008
po s _control_pt_to_pt.ep s
768 761 759 760
PositReg P Gain
Pt
-Pt Filt BW
Pt
-Pt Accel Time
Pt
-Pt Decel Time
Position Control
-
Point-
to
-Point
(Task 2
)
Reref
758
740
10
0 1 2
742
Gear Rat
[ N
]
[ D
]
745 746
PositRef EGR Mul
PositRef EGR Div
744
747
Pt
-Pt Posit Ref
Position Control
(P
t-
Pt ReRef
)
PositRef EGR Out
Position Cmmd
*
*
Posit Ref Sel
762
769
Position Error
0
318
775 776
0
Position Status
XReg Spd LoLim
XReg Spd HiLim
Posit Spd Output
to Speed Control -
Regulator [
5
A
2]
763
Position Actual
*
1
See Interpolated
/Direct
Position Control Diagram
Page 6
Δ
Δ
from Speed
/Posit
Fdbk [
9H
3]
(X
Spd LLim
)
(X
Spd HLim
)
Δ
&
740
01
157
03
Logic Ctrl State
Speed Out Enable
1 2 3 4 5 6
B
A
D
C
F
E
H
GI
Position Control AbsPositCtrl
740
06
1
) Parameter
740
b06
may be set when a multi
-turn
absolute feedback device is used for Point to Point positioning
.
Activating p
740
b06
will ReRef the position
reference to the absolute feedback when position control is activated
(p
741
b0
7
).
If the value at p
758
is different than
the feedback in
763
a position error will exist and the
machine will move to position when activated
.
2
) When p
740
b06
is high the
[SetZeroPosit
] p
740
b09
may be used to set the zero “home” position accumulators
.
This can only be used when the drive is not in run and p
740 b
06
=
1.
3
) When p
740
b06
is high
,
p745
&
p746
are bypassed
. In
absolute mode the point to point position regulator can only use raw counts as position command
.
741
4
Position Status (PtPtRRef Act
)
Notch
II
R
741
02
741
03
Point to Point Position
Limit
779 778
X Notch Attenu
X Notch FiltFreq
+
Rate Lim
753 754 755
LPass
Filter
756
Posit Offset
1
Posit Offset
2
Posit Offset Spd
X Offst SpdFilt
Position Control
(X
Offset Pol
)
Position Control
(XOff ReRef
)
740
04
740
05
741
05
Position Status (XOffReRef Act
)
+
+
+
-
796
Posit Gear Ratio
Calib
Const
Motor Speed
Gear Output Spd
()
Position Fdbk
from
[1
5
H
5]
0 1
0 0
1 0
&
740
20
Position Control (P
t-
PtRmpStop
)
&
740
20
Position Control (P
t-
PtRmpStop
)
157
03
Logic Ctrl State
Inv
PositSpfRef >
0.
01
OR
from
[1
5
H
5]
Position Control SetZeroPosit
740
09
*
Position Control Xzero Preset
740
08
On the rising edge
(activation
) of p
741
bit
7
[1
5
H
5
] the
following bit assignments occur
:
1)
If p
740
bit
8
is set
, then p
763
,
p765
,
p744
,
and p
747
get
loaded with
[Position Fdbk
(p
762
) -
Abs Posit Offset
(p
757
)].
2)
If p
740
bit
8
is reset
,
then p
763
,
p765
,
p744
,
and p
747
get
loaded with the reference value
(prior to reference derivative
function in coordinate
[D
2
]).
757
Abs Posit Offset
This point is a delta change
.
When the position loop is first
enabled the position command and feedback delta are zero
.
Δ
0
1
Position Control AbsPositCtrl
740
06