Rockwell Automation 20D PowerFlex 700S Drive Ph I Control, Frames 1...11 User Manual

Page 78

3-24

Programming and Parameters

140

FricComp Spd Ref

Supplies a speed input to the Friction Compensation algorithm. This input is normally a
speed reference from a motion planner or ramped speed reference. It will trigger a torque
feed forward response depending on its value.

Units:
Default:
Min/Max:
Comm Scale:

RPM
0.0000
-/+14112.0000
Par 4 [Motor NP RPM] = 1.0

✓ ✓ Real

141

FricComp Setup

Enter or write a value to configure the friction compensation algorithm. This is a packed
word of 3 digits. Each digit has a possible selection of 10 levels.

• The least significant digit sets the speed threshold in intervals of 0.0005 pu speed.

• The next (middle) digit sets the hysteresis band for the “units” digit in intervals of

0.0005 pu velocity.

• The most significant digit sets the number of time steps from stick to slip, each step is

0.002 sec.

Example: Fsetup = 524 means, 5 time steps between stick and slip, each of 0.002 sec.
duration, 2 counts of hysteresis or 0.001 pu_speed (each count is 0.0005 pu speed), and
4 counts or 0.002 pu_speed is the trigger threshold (each count is 0.0005 pu speed).

Default:
Min/Max:

325
0/999Integer

✓ 16-bit

Integer

142

FricComp Stick

The torque needed to break away from zero speed. By the nature of friction, the break
away sticktion will always be greater than the running friction.

Units:
Default:
Min/Max:
Comm Scale:

P.U.
0.1500
0.0000/8.0000
Motor P.U. Torque

✓ ✓ Real

143

FricComp Slip

The torque level to sustain very low speed – once “break away” has been achieved. By
the nature of friction, viscous friction will always be less than sticktion.

Units:
Default:
Min/Max:
Comm Scale:

P.U.
0.1000
0.0000/8.0000
Motor P.U. Torque

✓ ✓ Real

144

FricComp Rated

The torque needed to a base friction at base motor speed and with no process loading.
The friction compensation algorithm assumes a linear or viscous component of friction
between Par 143 [FricComp Slip] and Par 144 [FricComp Rated].

Units:
Default:
Min/Max:
Comm Scale:

P.U.
0.2000
0.0000/8.0000
Motor P.U. Torque

✓ ✓ Real

145

FricComp TorqAdd

The torque reference output of the Friction Compensation function. A value of 1.0
represents rated torque of the motor.

Units:
Default:
Min/Max:
Comm Scale:

P.U.
0.0000
-/+8.0000
Motor P.U. Torque

Real

150

Logic State Mach

Indicates the logical state of the drive.

Value 0 - “Stopped” indicates zero speed has been detected and the speed and torque
regulators are disabled.

Default:
Options:

0
0
1
2
3

“Stopped”
“Stopped”

“Inertia Test”

“Starting”

“MC Diag”

“Running”

“Test Done”

“Stopping”

151

Logic Command

The controller-drive interface (as defined by the Controller Communication Format) sets bits to enable and disable various functions and algorithms. Bits that
are changed here are reflected in Par 152 [Applied LogicCmd]. Note: Bits 4 through 9 in Logic Command are NOT recalled from Control EEprom. They will be
cleared upon drive power up or following an EEprom recall operation.

152

Applied LogicCmd

Displays Logic Command that is applied to the Regulators and Control Algorithms within the drive. Logic Commands come from the 32-bit Logic Command
found in a connection with the Logix Controller.

No.

Name
Description

Values

nkab

Read

-Wr

ype

N N N

Units

Hysteresis

Number of

Time Steps

Options

Rese

itionEn

ProcsT

m En

t C

tia

Sys

Iner

t En

r I

ner

t En

PM Offs

Dir Sel En

Pwr Diag

MC A

tun

Time Axis En

Tac

hLos

s Rst

Spd S Cr

v En

SpdRa

p Dsb

Default

Bit

15 14 13 12 11 10 9

0 = False
1 = True

Options

Rese

Coas

t St

CurrL

im Stop

Jog

Rese

UniP

Fwd

Clear

ault

Jog

Star

Nor

al Stop

Rese

itionEn

ProcsT

m En

t C

tia

Sys

Iner

t En

r I

ner

t En

PM Offs

Dir Sel En

Pwr Diag

MC A

tun

Time Axis En

Tac

hLos

s Rst

Spd S Cr

v En

SpdRa

p Dsb

Default

Bit

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9

0 = False
1 = True