Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 129)

Appendix D
Block Diagrams
D-3
Figure E.1
1391-DES Software Block Diagram – Part 2
ID PERCENT
224
AUT
OTUNE SELECT
190
AUT
OTUNE VEL
LIM
CLR ST
A
TUS
SYSTEM TUNE
CALCULA
TE
2 3
EXIT
1 0
187 188
t
AUT
O TUNE
VOLA
TILE SLOW
SLOW P
ARAMETER
P
ARAMETER
FAST
SOURCE
(TEST
POINT)
FAST
SINK
183
VEL
DAMP
SELECT
FRICTION
201
FRICTION COMP
FRICTION
199
FRICTION
200
AUT
OTUNE FCOMP
69
FCOMP
ZET
A
2
1.40 0.70
3
1.00 0.87
1 0
FRICTION COMP
DAMPING F
ACT
OR SELECT
OR
D/A
2
AUT
OTUNE CUR LIM
V
212 D/A
1
213
D/A
2 CMD V
A
L
D/A
1 CMD V
A
L
59 58
D/A
GAIN
INDIRECT SINK 2 INDIRECT SINK 1
245 243
AUT
OTUNE INER
TIA
189
DUAL
D/A
2047 = 9.0v
12 bit
D/A
1 OUT
D/A
2 OUT
ID RPM
223
ID RPM
222
RESOL
VER OFFSET
Id CONTROL
244 246
INDIRECT SOURCE 1 INDIRECT SOURCE 2
CABLE COMP
233
TRANSPOR
T
COMP 234
q
INITIALIZE
RECALL
SA
VE P
ARMS
BUS & F
AUL
T
FAUL
T
DRIVE OK MODE
DESIRED
BW MAX
MOT
OR
AUT
OTUNE
(CALCULA
TE)
SELECT
VEL
BW
INERTIA (mSEC)
AUT
O GAIN CHANGE (169)
190
182
(184) Wa
K
i
68
181
RA
TELIM (158)
(168)
Kp
130
EEPROM FUNC
DRIVE SW VERSION
3 2 1
128 254
1 0
DROK
bit 6
bit 6
drive
state
bit
DRIVE F
AUL
TS
6
bit 10 bit 1
1
bit 12 bit 13 bit 14 bit 15 bit 9 bit 7 bit 8
int A/D
conv
eeprom autotune power fault overvoltage ext A/D
conv
bit
DRIVE ST
A
TUS
7
UP
T
O
135
bit 15 bit 12 bit 13 bit 14 bit 9 bit 10 bit 1
1
bit 7 bit 8
drive state at current limit
FAUL
T
LIST
bit 0
v
bit 3 bit 4 bit 5 bit 1 bit 2
v
amp overtemp control voltage resolver loss
DRIVE ST
A
TUS
bit 0 bit 3 bit 4 bit 5 bit 1 bit 2
class 1 fault at zero speed at speed ee write enabled drive state (lsb)
bit 6
abort
bit
AUT
OTUNE ST
A
TUS
8
complete enable time limit exec time limit accel fault decel fault gain calc exec gains updated
bit 12 bit 13 bit 14 bit 15 bit 7 bit 8 bit 9 bit 10 bit 1
1
ready active enable drive accel decel
AUT
OTUNE ST
A
TUS
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5
UNITS SELECT
LOGIC COMMAND ADAPTER TYPE DRIVE SIZE
LANGUAGE SELECT
3 4 5
129 131
253
DISPLA
Y
SW VERSION
DRIVE ADDRESS
136
SPEED T
OL.
46
ID CURRENT
COMP
HYSTRS
BIT
GAIN
GAIN
REF
.
END
ST
AR
T
LIM
251
ACCESS TIMEOUT
252
DRIVE INIT ST
A
T
S
it active
power up enable
EXIT
EEPROM
0
00
FAUL
TS
RESET DISPLA
Y