Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 388)

388 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives
Position Control - Regulator
Gear R
at
[ N ] [ D ]
816 817
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
836
837
Droop
846
Limi
t
845 84
4
Psn
Actual
Psn Loa
d
Actual
Psn Re
g Ki
Psn Reg Droop
Psn Re
g Kp
PsnReg IntgrlOut
Psn Re
g Status
PReg
Pos In
t Lmt
PReg Neg
Int Lmt
Psn Re
g Status
Psn Ref EGR Out
LdPsn Fdbk
Mu
lt
LdPsn
Fdbk Div
PR
eg Neg Spd Lmt
PReg Pos
Spd
Lmt
PsnReg Sp
d Out
835
Psn Error
No
tch
II R
724
5
724
6
Calib Const Calib Const
724
3
724
4
831 830
Ps
nNtc
hFlt
rDept
h
PsnNtchFltrFreq
+
+
+
-
+
-
+
-
Psn Fdb
k
Pos
ition Reference Offset
Electronic G
ear Ratio
*4
+
+
Intgrt
r Enbl
In
tg
rtr H
old
721
1
721
5
&
From
Posit Ref
[11I4]
Notch Filter
Speed Limits
PI Regulator
Inv
Σ
Σ
Σ
72
3
Psn Command
Σ
Σ
725
Xzero Preset 721
4
Posit
ion Cont
rol
(Zero Psn)
Zero
Posit
ion
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
843
832
834
Psn Out
FltrGain Psn Out Fltr BW
Lead Lag (kn *
s)+ wn
s + wn
83
3
Psn Out Fltr Sel
Ou
tput Filter
Psn Sel
e
cted
Ref 722
Position Control –
R
egulator
72
1
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
Integ Lm
t Hi
3
Integ 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
824
Psn Offset
Vel
Posit
ion C
o
nt
rol
(O
ffse
tR
eR
ef)
Posit
ion C
o
nt
rol
(O
ff
s
e
tV
e
l E
n
)
72
1
3
+ +
72
1
2
0 1
Integ Lm
t Lo
Integ
Lmt H
i
Actv SpTqPs
Mode
Spd
Lmt Lo
Spd Lm
t Hi
313
Psn Offs
et 1 Sel
820
821
Oth
e
r Re
f
Sources Psn Offs
et
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
Load
P
s
n F
d
bk
S
e
l
13
6
Other Ref
So
urc
e
s
Ps
n 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 Co
ntrol
1.
If
Zero Psn
[P721 Bit 04] is set,
Psn
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
] an
d
Psn Re
f EGR Out
[P815] are loaded
with
Psn Actual
[P8
36]
*4. EGR is sk
ipped when Point to
P
o
int
Posit
ion cont
rol i
s
ac
tiv
e
(included Profiler, PLL with PTP)
Parameter initializatio
n
s performed with
Position Regu
lator INACT
IVE
EGR is skipp
ed when
Point to
Point Position
contro
l is active.
Virtua
l
Encode
r
From
Homing
[1
7H3
]
84
8
Psn G
e
ar Ratio
Mot
or Spee
d
G
ear Out
put Spd
(
)
PF
755 Rev
_9.a
Pag
e 12
43
2 Position Re
fe
rence
441 Kpp
44
2 Kpi
43
4 Po
sition Feedback
780 Position
Integral Feedback
438 Position
Loop Output
782 Position Lead
Lag Filter Gain
7
81
Position
Lead L
ag Filte
r Bandwidth
446 Position
Integrator
Control
200
-200
783 Position Notch Filter Fre
q
ue
ncy
436 Posi
tion Error
437 Position Integrator Output
446 Positio
n
Integrator Control
43
1
Position Trim
446 Position Integr
ator Co
ntrol