Rockwell-automation 21G PowerFlex 750-Series AC Drives Programming Man Instrukcja Użytkownika Strona 411
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Rockwell Automation Publication 750-PM001J-EN-P - October 2014 411
PowerFlex 755 Control Block Diagrams Appendix A
Figure 45 - Position Control - Regulator
Gear Rat
[ N ]
[ D ]
816
817
Psn EGR Mult
Psn EGR Div
815
847
P Gain
kp
839
I Gain
ki
s
838
Limit
841
840
842
Gear Rat
[ N ]
[ D ]
825
826
836
837
Droop
846
Limit
845
844
Psn
Actual
Psn Load Actual
Psn Reg Ki
Psn Reg Droop
Psn Reg Kp
PsnReg IntgrlOut
Psn Reg Status
PReg Pos Int Lmt
PReg Neg Int Lmt
Psn Reg Status
Psn Ref EGR Out
LdPsn Fdbk Mult
LdPsn Fdbk Div
PReg Neg Spd Lmt
PReg Pos Spd Lmt
PsnReg
Spd Out
835
Psn Error
Notch
II
R
724
5
724 6
Calib
Const
Calib
Const
724 3
724
4
831
830
PsnNtchFltrDepth
PsnNtchFltrFreq
+
+
+
-
+
-
+
-
Psn Fdbk
Position Reference Offset
Electronic Gear Ratio
*4
+
+
Intgrtr Enbl
Intgrtr Hold
7211
7215
&
From
Posit Ref
[11I4]
Notch Filter
Speed Limits
PI Regulator
Inv
Σ
Σ
Σ
723
Psn Command
Σ
Σ
725
Xzero
Preset
721
4
Position Control
(Zero Psn)
Zero
Position
1
2
3
4
5
6
BA
D
C
FE HG
I
Pos Fdbk Scaling
Σ
Spd/Trq
Modes
Psn
Modes
0
843
832
834
Psn Out FltrGain
Psn Out Fltr BW
Lead Lag
(kn * s)+ wn
s + wn
833
Psn Out Fltr Sel
Output Filter
Psn Selected
Ref
722
Position Control – Regulator
721
0
Position Control
1
Reserved
Offset ReRef
2
OffsetVel En
3
Zero Psn
4
Intgrtr Hold
5
Intgrtr En
6
PsnWtch1Arm
7
PsnWatch1Dir
724
0
Psn Reg Status
1
Spd Lmt Hi
Spd Lmt Lo
2
Integ Lmt Hi
3
Integ Lmt Lo
4
Intgrtr Hold
5
6
Offset ReRef
7
8
PsnW1Detect
9
InPsn Detect
10
11
Psn Intgrtr
8 PsnWtch2Arm
9
PsnWatch2Dir
PsnW2Detect
OffsetIntgrtr
Psn Reg Actv
ReRef
Rate Lim
824
Psn Offset Vel
Position Control
(OffsetReRef)
Position Control
(OffsetVel En)
721
3
+
+
721
2
0
1
Integ Lmt Lo
Integ Lmt Hi
Actv SpTqPs
Mode
Spd Lmt Lo
Spd Lmt Hi
313
Psn Offset 1 Sel
820
821
Other Ref
Sources
Psn Offset 1
Parameter
Selection
Psn Offset 2 Sel
822
823
Other Ref
Sources
Psn Offset 2
Parameter
Selection
Load Psn FdbkSel
136
Other Ref
Sources
Psn Fdbk
Parameter
Selection
847
[3H4]
[3H4]
[13D4]
[23D5]
To Spd Ref
[7E5]
10
Add Spd Ref
Position Control
1. If Zero Psn [P721 Bit 04] is set, Psn
Actual [P836] is loaded with
Psn Fdbk [P847] –
Zero Position
[P725].
2. Else, if Homing function is enabled,
Psn Actual [P836] is loaded with
Psn Fdbk [P847] .
3. Else, Psn Command [P723] and
Psn Ref EGR Out [P815] are loaded
with Psn Actual
[P836]
*4. EGR is skipped when Point to
Point Position control is active
(included Profiler, PLL with PTP)
Parameter initializations performed with
Position Regulator INACTIVE
EGR is skipped when
Point to Point Position
control is active.
Virtual
Encoder
From
Homing
[17H3]
848
Psn Gear Ratio
Motor Speed
Gear Output Spd
(
)
PF755 Rev_10.a
Page 12
- Programming Manual 1
- Important User Information 2
- Summary of Changes 3
- New and Updated Information 3
- Table of Contents 5
- Chapter 5 6
- Embedded Feature and Option 6
- Chapter 6 6
- Overview 9
- Obtaining Manuals 10
- Product Certification 11
- Manual Conventions 11
- General Precautions 12
- Product Safety 13
- Class 1 LED Product 13
- Start Up 15
- Figure 1 - DPI Ports ➊ and ➋ 16
- Start-Up Menu 17
- Drive Status Indicators 18
- EtherNet/IP 19
- Parameter Organization 21
- About Parameters 22
- Parameter Access Level 23
- How Drive Parameters are 24
- Organized 24
- Motor Control 26
- Feedback and IO 26
- Drive Cong 27
- Protection 27
- Speed Control 28
- Torque Control 28
- Psn Offset 1 Sel 820 29
- Diagnostics 30
- Applications 30
- Not Applicable 39
- Inverter Common (Port 10) 40
- Inverter Common 40
- Inverter n 40
- Converter Common (Port 11) 41
- Converter Common 41
- Converter n 41
- Precharge Common (Port 11) 42
- Precharge Common 42
- Precharge n 42
- Embedded EtherNet/IP 43
- Embedded DeviceLogix 44
- How Option Module 45
- Parameters are Organized 45
- 22-Series I/O Modules 46
- 22-Series I/O 46
- Single Incremental 47
- Dual Incremental 47
- Universal Feedback 48
- Safe Speed Monitor 49
- Drive Port 0 Parameters 51
- Drive (Port 0) Monitor File 52
- Drive (Port 0) Motor Control 54
- Frequency 55
- Drive (Port 0) Cfg File 84
- (1) Frames 1…7 only 92
- 755 (8+) 105
- Drive (Port 0) Speed Control 111
- Freq (Hz) 127
- Attenuation 127
- Drive (Port 0) Position 133
- Control File 133
- (1) 755 drives only 134
- Drive (Port 0) 148
- Communication File 148
- (2) 753 drives only 159
- (1) 753 drives only 160
- (3) 755 drives only 166
- (2) 755 drives only 167
- Drive (Port 0) Applications 172
- PI Error 174
- Alt Slope 196
- -axis offset is enabled 200
- Spindle Orientation Offset 207
- Drive (Port 0) General 212
- Purpose Parameters 212
- Chapter 4 215
- Inverter (Port 10) Common 216
- Parameters 216
- Inverter n (Port 10) 218
- Converter (Port 11) Common 221
- Converter n (Port 11) 223
- Precharge (Port 11) Common 227
- Precharge n (Port 11) 229
- Embedded EtherNet/IP (Port 234
- 13) Parameters 234
- Communication 240
- Configurations 240
- Table 4 - Logic Command Word 241
- Table 5 - Logic Status Word 242
- Embedded DeviceLogix (Port 243
- 14) Parameters 243
- 11-Series I/O Module 246
- 22-Series I/O Module 256
- Single Incremental Encoder 267
- Module Parameters 267
- Dual Incremental Encoder 269
- Universal Feedback Module 274
- Encoder Output Z Offset 286
- Registration Latch 0 290
- Registration Latch N 290
- Option Bus I/O 290
- Safe Speed Monitor Module 292
- Troubleshooting 305
- Faults, Alarms and 306
- Configurable Conditions 306
- HIM Indication 309
- Manually Clearing Faults 309
- Power Layer Interface (PLI) 310
- Board 7-Segment Display 310
- System Resource Allocation 311
- Chapter 6 Troubleshooting 312
- Drive Fault and Alarm 313
- Descriptions 313
- IMPORTANT 324
- for descriptions 324
- 194 Port12 Checksum 272 326
- Alarms (Frame 8 and Larger) 328
- I2 Curr Offset 331
- Converter (Port 11) Faults 333
- Precharge (Port 11) Faults 338
- N-1 and Re-Rate Functions 341
- Use the Re-Rate Feature 342
- Troubleshooting Chapter 6 343
- 13) Events 345
- Safe Torque Off Fault 347
- I/O Faults and Alarms 347
- ATEX Faults 348
- Faults and Alarms 348
- Universal Feedback Faults 350
- Port Verification 357
- Common Symptoms and 357
- Corrective Actions 357
- Motor operation is unstable 358
- Problems adding a datalink 359
- PowerFlex 755 Lifting/ 360
- Torque Proving 360
- External Brake Resistor 360
- Technical Support Options 361
- Technical Support Wizards 362
- Appendix A 363
- Block Diagrams 363
- * Notes, Important: 364
- PowerFlex 753 365
- VF (V/Hz), SV Overview 366
- Speed/Posit Fdbk 367
- Speed Control – Reference (1) 369
- Speed Control – Reference (2) 370
- Speed Control – Reference (3) 371
- Flux Vector 371
- Speed Control – Reference (4) 372
- VF (V/Hz), SV 372
- Speed Control – Reference (5) 373
- Speed Control – Regulator 374
- Position Control – Reference 375
- Position Control – Regulator 376
- In Position Detect 377
- Position Control – Homing 378
- Torque Control – Overview 379
- Induction Motor (IM) 379
- Torque Control – Torque 382
- Torque Control – Current 383
- Process Control (1) 385
- Process Control (2) 386
- MOP Control 387
- Dig In Filt 388
- Buffer & 394
- Comparator 394
- PF753 Rev_10.a 394
- Control Logic 395
- Inverter Overload IT 396
- PowerFlex 755 400
- Position Watch 1 412
- Position Watch 2 412
- Reref Psn In 414
- Speed/Position 415
- Move Table 415
- Roll Psn Config 417
- SO Offset 418
- Position 419
- Induction Motor (IM) & 420
- Total Inertia 426
- PF755 Rev_10.a 435
- Friction Compensation 438
- Peak Detect 440
- Digital Switches 440
- Diagnostic Tools 440
- High Speed Trend Wizard 441
- Application Notes 443
- Application Notes Appendix B 445
- Crane Setup with Encoder 446
- Feedback 446
- Set Up the Drive 447
- Motor Tune Routines 447
- Static Tune 448
- Rotate Tune 449
- Inertia Tune 450
- Torque Prove 452
- Setup Complete 453
- Crane Setup - Encoderless 455
- 6. Set speed reference 460
- 8. Set speed loop tuning 460
- Pump Off Function 463
- Gather Motor and Pump Data 464
- Enter Motor Data 464
- Run Motor Tune Routine 465
- Enter Pump Data 466
- Store Pump Cycle Torque 467
- Appendix B Application Notes 468
- Fine Tuning 469
- Sleep Mode 469
- Pump Off Control Outlines 470
- Table 2 - Parameter List 474
- Predictive Maintenance with 475
- Example Code 477
- Using DeviceLogix 483
- Function Block Elements 485
- Bit and Analog I/O Points 486
- Analog Inputs 487
- Analog Outputs 487
- Data Types 488
- Using DeviceLogix Appendix C 489
- Drive Datalink Value 489
- Program Examples 490
- Parameter Configuration 491
- Functional Block Programming 492
- Example 3: Diverter Operation 495
- Example 4: Wet Well Operation 496
- Example logic requirements: 499
- Permanent Magnet Motors 501
- Appendix E 505
- Introduction 505
- Feedback Configuration 507
- Parameter / Instance 512
- Attribute Mapping 512
- 431 1AF Position Trim 514
- Motor Overload 515
- Enhanced Attributes 516
- Additional Resources 525
- Rockwell Automation Support 544
- Documentation Feedback 544
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