Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 376)

376 Rockwell Automation Publication 750-PM001J-EN-P - October 2014
Appendix A PowerFlex 753 Control Block Diagrams
Figure 12 - Position Control - Regulator
Gear R
at
[ N ] [ D ]
81
6
81
7
Psn EGR Mul
t
Psn EG
R Div
81
5
84
7
P Gain
kp
839
I Gain
ki s
83
8
Lim
it
841 840
842
83
6
Droop
846
Limi
t
845 844
Psn
Actual
Psn Re
g Ki
Psn Reg Droop
Psn Re
g Kp
PsnReg IntgrlOut
Psn Reg Status
PReg Pos Int Lmt PReg Neg Int Lmt
Psn Re
g Status
Psn Ref EGR Out
PR
eg Ne
g Spd Lmt
PReg Pos Spd Lmt
PsnReg Sp
d Out
83
5
Psn Error
No
tch
II R
724
5
724
6
Calib Co
nst
Calib Co
nst
724
3
724
4
831 830
PsnNtchFltrDepth
PsnNtchFltrFreq
+
+
+
-
+
-
+
-
Psn Fdb
k
Pos
it
ion Reference Off
set Electronic G
ear Ratio
+
+
Intgrtr Enbl In
tgrtr H
old
721
1
721
5
&
From
Posit Ref
[11I4]
Notch Filter
Speed Limits
PI Regulator
Inv
Σ
Σ
Σ
723
Psn Command
Σ
Σ
725
Xzero Preset 721
4
Posit
ion C
ont
rol
(Zero Psn)
Zero
Posit
ion
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Pos Fdbk Scaling
Sp
d/Trq
M
odes Psn
Mo
des 0
84
3
83
2
834
Psn Out FltrGain
Psn Out Fltr BW
Le
ad La
g
(kn *
s)+ wn
s + wn
833
Psn Out
Fltr Sel Ou
tput Filter
Psn Sel
ected
Ref 722
Position Control –
R
egulator
721
0
Position Control
1
R
eserve
d
Offset ReRef
2
O
ffsetVe
l En
3
Z
ero Ps
n
4
In
tgrtr H
old
5
Int
grtr En
6
R
eserve
d
7
R
eserve
d
724
0
Psn Reg Status
1
S
pd Lm
t Hi
S
pd Lm
t Lo
2
In
teg Lm
t Hi
3
In
teg Lm
t Lo
4
Intgrtr
Hold
5 6
O
ffset R
eRef
7 8
R
eserv
ed
9
InPsn D
etect
10 11
Psn In
tgrtr
8
Reser
ved
9
R
eserved
R
eserv
ed
O
ffsetIn
tgrtr
P
sn Reg
Actv
1.
If
Zero Psn
[P
721 Bit
04]
is set,
Psn
Actual
[P836] is loaded with
Psn Fdbk
[P847] –
Zero Position
[P725]. 2. Else, if Homing func
tion is enabled,
Psn Actual
[P836] is loaded wi
th
Psn Fdbk
[P847] .
3. Else,
Psn Command
[P723] and
Psn Ref EGR Out
[P815] are loaded
with
Psn Actua
l[P836]
Re
Ref
Rate Lim
82
4
Psn Offset Vel
Posit
ion Cont
rol
(O
ffsetReRef)
Position Co
ntrol
(OffsetVel En)
721
3
+ +
721
2
0 1
Integ Lm
t Lo
Integ
Lmt H
i
Actv SpTqPs
Mode
Spd
Lmt Lo
Spd Lm
t Hi
313
Ps
n Of
fs
et
1 Sel
820
821
Oth
er Re
f
Sources Psn Offset
1
Para
meter
Sel
ection
Psn Offset 2
Sel
822
823
Ot
he
r R
e
f
Sources
Psn Offset 2
Par
ameter
Se
lection
[3
H4]
[1
3D3]
[1
7D5
]
To Spd Ref
[7E5]
10
Ad
d Spd R
ef
Po
sition Co
ntrol
[1
4F3]
Ho
min
g
Parameter initializatio
ns p
erformed with
Position Regula
tor INACTIVE
EGR is skipped when Point to
Point Position
control is active.
PF
753 Rev
_10.a
Pag
e 12
84
8
Psn Gear Ratio
Motor
Speed
Gea
r Outpu
t Spd
()