Position control - interpolated/direct, Position control (4 ms) inter polated/direct – Rockwell Automation 1756-DMF30 ControlLogix Drive Module User Manual
Page 86
Publication 1756-UM522B-EN-P - February 2003
B-6 1756-DMD30 Specific Information
Position Control - Interpolated/Direct
Inter
polator
x
x
x
786
00
740
13
748
751
Synchroniz
e
0
1
2
750
749
743
742
Gear Rat
[ N ]
[ D ]
745
746
Po
sitRef EGR Mul
Po
sitRef EGR Div
+
Rate Lim
753
754
755
LP
ass
Filter
756
740
04
740
05
Accum
Σ
744
+
747
762
764
P Gain
kp
768
I Gain
ki
s
770
Limit
772
773
741
00
774
+
Gear Rat
[ N ]
[ D ]
766
767
Link
763
765
Calib
Const
Calib
Const
Droop
771
In
v
&
740
02
740
03
&
152
17
152
26
157
03
Limit
1
0
318
775
776
&
740
01
157
03
0
741
02
Act Motor P
osit
Po
sit Actl Load
Po
sitReg Integ
Po
sitReg Droop
Po
sitReg P Gain
XReg Integ Out
Po
sition Status
XReg Integ LoLim
XReg Integ HiLim
Po
sition Status
CoarseP
osit T
rgt
Po
sition Control
(Inter
p Re
v)
Xsync Status
(Sync Pulse)
Inter
p Spd Scale
Inter
p Speed
Inter
p P
osition
Au
x P
osit Ref
Po
sit Offset 1
Po
sit Offset 2
Po
sit Offset Spd
X Offst SpdFilt
Po
sition Control
(X Offset P
ol)
Po
sition Control
(X Offset Ref)
Po
sitRef EGR Out
Po
sition Cmmd
Po
sition Control
(Speed Out En)
Logic Ctr
l State
(P
osition En)
P
osition Control (4 ms)
Inter
polated/Direct
Mtr P
osit Fdbk
Po
sit Load Fdbk
P
osit FB EGR Mul
Po
sit FB EGR Div
Po
sition Control
(Integ En)
Po
sition Control
(Integ Hold)
Applied LogicCmd
(Star
t)
Applied LogicCmd
(P
osition En)
Logic Ctr
l State
(P
osition En)
741
01
741
03
XReg Spd LoLim
XReg Spd HiLim
*
*
*
Po
sit Ref Sel
Po
sit Spd Output
769
Po
sition Error
from Speed/P
osit
Fdbk [9H2]
to Speed Control
- Regulator [3A2]
Der
iv
∆
Der
iv
∆
See P
oint-to-P
oint
Po
sition Control
Diag
ra
m page 6
Der
iv
∆
Accum
Σ
Accum
Σ
Accum
Σ
Accum
Σ
Accum
Σ
Logic Ctr
l State
(P
osition En)
*
740
06
Po
sition Control
(ActP
osit Rst)
If p740 b6 = 1 and the position
regulator is NO
T enab
led,
accum
ulated v
alues are set to
the v
alue of p762.
If p740 b6 =
0 and the position regulator is
NO
T enab
led, accum
ulated
v
alues are set to the ref
erence
v
alue
.
*
+
-
+
-
+
-
1
2
3
4
5
6
B
A
D
C
F
E
H
G
I
157
03
0
(X Spd LLim)
(X Spd HLim)