Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 148)

148 Rockwell Automation Publication 750-PM001J-EN-P - October 2014
Chapter 3 Drive Port 0 Parameters
Drive (Port 0)
Communication File
POSI
TI
ON C
O
NTR
O
L
Po
si
ti
on
Re
g
846 Psn Reg Droop
Position Regulation Droop
Sets position droop which limits the low frequency gain of the position regulators
integral channel to a value of (1/droop). This parameter provides a means to fine tune
the stability for load mounted feedback devices where lost motion may cause a
problem. Typically, the position droop will have a value that is less than (1/position
gain), perhaps even zero for tightly coupled loads. The position droop has a gain value of
(P.U. position) / (P.U. speed). Note: 1 P.U. position is the distance traveled in 1 second at
base motor speed. Units:
Default:
Min/Max: Secs
0.00
0.00 / 25.00 RW Real
847 Psn Fdbk
Position Feedback
Indicates the accumulated pulse count of the position feedback selected by the position
feedback select P135 [Psn Fdbk Sel]. Default:
Min/Max: 0
–2147483648 / 2147483647 RO 32-bit
Integer
848 Psn Gear Ratio
Position Gear Ratio
Sets the load side gear ratio for position control. Adjust this parameter’s value when the
load side encoder is selected for the position feedback by P135 [Mtr Psn Fdk Sel], and
the load is coupled to the motor through a gear.
Calculation: Gear Ratio = (Number of teeth on Gear or driven) / (Number of teeth on
Pinion or driver)
When a motor (driver) and a load (driven) are coupled with a 20:1 gear box (the gear
ratio = 20), the value of this parameter will be 20. This value affects the following
parameters as a speed feed forward gain.
P843 [PsnReg Spd Out]
P783 [PTP Speed FwdRef]
P807 [PLL Speed Out]
P1472 [PCAM Vel Out]
Default:
Min/Max: 1.0000
0.0001 / 9999.0000 RW Real
Fi
le
Grou
p
No. Display Name
Full Name
Description Values
Re
ad
-W
ri
te
Da
ta
T
ype
755
Fi
le
Grou
p
No. Display Name
Full Name
Description Values
Rea
d-W
ri
te
Da
ta
T
yp
e
COMMUN
IC
ATIO
N
Co
mm Contr
ol
865
866
867 DPI Pt1 Flt Actn
DPI Pt2 Flt Actn
DPI Pt3 Flt Actn
DPI Port n Fault Action
Sets the response to a HIM communication loss.
“Fault” (0) – Major fault indicated. Coast to Stop.
“Stop” (1) – Type 2 alarm indicated. Stop according to P370 [Stop Mode A].
“Zero Data” (2) – Type 2 alarm indicated. If running, drive continues to run, speed
reference goes to zero.
“Hold Last” (3) – Type 2 alarm indicated. If running, drive continues to run at the last
value entered from the HIM.
“Send Flt Cfg” (4) – Type 2 alarm indicated. If running, drive continues to run at [DPI Ptn
Flt Ref]. Default:
Options: 0 = “Fault”
0 = “Fault”
1 = “Stop”
2 = “Zero Data”
3 = “Hold Last”
4 = “Send Flt Cfg” RW 32-bit
Integer
868
869
870 DPI Pt1 Flt Ref
DPI Pt2 Flt Ref
DPI Pt3 Flt Ref
DPI Port n Fault Reference
Sets a constant value for the speed reference when [DPI Ptn Flt Actn] option 4 “Send Flt
Cfg” is set and a HIM communication loss is detected. Default:
Min/Max: 0.00
–/+220000000.00 RO Real