Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 411)

Rockwell Automation Publication 750-PM001J-EN-P - October 2014 411
PowerFlex 755 Control Block Diagrams Appendix A
Figure 45 - 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
Gear R
at
[ N ] [ D ]
825 826
83
6
837
Droop
846
Limi
t
845 844
Psn
Actual
Psn Load Actual
Psn Re
g Ki
Psn Reg Droop
Psn Re
g Kp
PsnReg IntgrlOu
t
Psn Reg Status
PReg Pos Int Lmt PReg Neg Int Lmt
Psn Re
g Status
Psn Ref EGR Out
LdPsn Fdbk Mu
lt
LdPsn Fdbk Div
PReg Neg Sp
d Lmt
PReg Pos Spd Lmt
PsnReg Sp
d Out
835
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
*4
+
+
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 Cont
rol
(Zero Psn)
Zero
Position
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Pos Fdbk Scaling
Σ
Sp
d/Trq
M
odes Psn
Mo
des 0
84
3
832
83
4
Psn Out FltrGain
Psn Out Fltr BW
Lead Lag (kn *
s)+ wn
s + wn
833
Psn Out Fltr Sel
Ou
tput Filter
Psn Sel
e
cted
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
P
snWtc
h1Arm
7
P
snWat
ch1Dir
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
P
snW1
Detect
9
InPsn D
etect
10 11
Psn In
tgrtr
8
PsnW
tch2Ar
m
9
Ps
nWatc
h2Dir
P
snW2
Detect
O
ffsetIn
tgrtr
P
sn Reg
Actv
Re
Ref
Rate Lim
82
4
Psn Offset Vel
Posit
ion Cont
rol
(O
ffsetReRef)
Posit
ion Cont
rol
(O
ffs
etV
e
l E
n)
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 Offs
et
1
Sel
820
821
Oth
er Re
f
Sources Psn Offset
1
Para
meter
Sel
ection
Psn Offset 2 Sel
82
2
823
Ot
he
r R
e
f
Sources
Psn Offset 2
Par
ameter
Se
lection
Load Psn FdbkSel
13
6
Other Ref
So
urces
Psn Fdb
k
Param
eter
Select
ion
847
[3
H4]
[3H4]
[13D4]
[2
3D5
]
To Spd Ref
[7E5]
10
Ad
d Spd R
ef
Po
sition Control
1.
If
Zero Psn
[P7
21 Bit 04] is se
t,
Ps
n
Ac
tu
al
[P836] is loaded with
Psn Fdbk
[P84
7] –
Zero Position
[P725]. 2.
Else
, if Homing function is enabled
,
Psn Actual
[P836] is loaded with
Psn Fdbk
[P84
7] .
3. Else
,
Psn Command
[P723] and
Psn Re
f EGR Out
[P81
5] are loaded
with
Psn Actual
[P836]
*4. EGR is skipped when Point to P
o
int
Posit
ion co
nt
rol i
s active
(included Profiler, PLL with PTP) Parameter initializatio
ns performed with
Position Regu
lator INACT
IVE
EGR is skipp
ed wh
en
Point to Point Position control is active.
Virtua
l
Encode
r
From
Homing
[1
7H3
]
84
8
Psn G
ear Ratio
Mot
or Spee
d
G
ear Out
put Spd
(
)
PF
755 Rev
_10.a
Pag
e 12