Rockwell-automation 20D PowerFlex 700S with Phase I Control Reference Manual de usuario Pagina 87
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Detail Drive Configuration and Operation Chapter 1
Parameter 770 [PositReg Integ] is the integral gain for the position loop.
[PositReg Integ] can be used but is disabled by default and is normally not
needed for position follower applications. To enable [PositReg Integ], set
parameter 740 [Position Control], bit 2 “Integ En” = 1. When [PositReg Integ] is
used, parameters 772 [XReg Integ LoLim] and 773 [XReg Integ HiLim] should
be set with narrow limits.
Jogging a Position Follower Independent from the Master
Version 1.xxx - When you want to jog the PowerFlex 700S follower drive
independently, turn off parameter 740 [Position Control] bit 1 “Posit Spd
Output” to disable the position loop output.
Version 2.xxx - The jog can be performed while the position loop output is
enabled.
Position Loop - In Position
Detect
The In Position Detection determines if parameter 769 [Position Error] is within
a user defined value. Parameter 769 [Position Error] is the result of parameter
747 [Position Cmmd] - parameter 762 [Mtr Posit Fdbk].
Parameter 782 [In Posit BW] sets the absolute number of position counts that
parameter 769 [Position Error] must be within for parameter 741 [Position
Status] bit 10 “In Position” to turn on.
Parameter 783 [In Posit Dwell] sets a delay time in seconds that parameter 769
[Position Error] must be within parameter 782 [In Posit BW] before parameter
741 [Position Status] bit 10 “In Position” turns on.
Position Loop - Point to Point
Technical Information
First a few general facts about the Point to Point Position Loop:
• Uses only parameter 768 [PositReg P Gain] for tuning. Parameter 770
[Posit Reg Integ] is not used in point to point mode.
• The number of position counts per revolution depends on the type of
feedback device used:
In Position Detect
769
782
783
741 10
In Posit BW
In Posit Dwell
Position Error
Position Status
(In Position)
- Reference Manual 1
- Important User Information 2
- Summary of Changes 3
- New and Updated 3
- Information 3
- Table of Contents 5
- Appendix A 10
- History of Changes 10
- Additional Resources 11
- Chapter 1 13
- Accel Time 13
- Analog Inputs 14
- Analog Outputs 15
- Analog Output Configuration 16
- Auto/Manual 17
- Autotune 17
- Motor Control 18
- Motor Data 18
- Feedback Configuration 18
- Power Circuit Test 18
- Direction Test 19
- Motor Tests 19
- Auxiliary Power Supply 20
- Bus Regulation/Braking 20
- Cable, Control 24
- Cable, Motor Lengths 24
- Cable, Power 24
- Cable Trays and Conduit 24
- Carrier (PWM) Frequency 25
- CE Conformity 26
- Common Bus Systems 26
- Communication 26
- ControlNet (20-COMM-C) 26
- ControlLogix Programming 31
- Explicit Messaging 32
- Copy Cat 33
- Current Limit 33
- Datalinks 34
- Example Configuration 2: 35
- “Data Out” Parameters 35
- Example Configuration 3: 35
- Example Configuration 4: 35
- Decel Time 36
- DeviceNet (20-COMM-D) 36
- ControlLogix 37
- Digital Inputs 42
- SyncLink 43
- Configuration Example 45
- Digital Input Status Bits 45
- Digital Outputs 46
- Reference 47
- Drive Overload 48
- 150% * 3 s + 100%*57 s 49
- Drive Overtemperature 50
- (Frame 9 Only) 50
- Drive Peripheral Interface 50
- Peer-to-Peer Operation 51
- DriveLogix 52
- Dynamic Braking 53
- Efficiency 53
- Electronic Gearing 53
- Application Example: 54
- Key Words 54
- Nomenclature: 54
- Low Pass Filter 55
- Second Order Low Pass Filter 55
- Lead-Lag Filter 56
- Lead-Lag Filter “Lead” 57
- Notch Filter 59
- Figure 20 - Resonance 60
- Figure 21 - 10 Hz Notch 61
- Conclusion 61
- Flying Start 62
- Preset Frequency Search 63
- Hysteresis 65
- Number of 65
- Time Stops 65
- Grounding, General 66
- HIM Memory 66
- HIM Operations 66
- Inertia Adaptation 67
- Using the HIM 70
- Using DriveExecutive 71
- Motor Control Mode 72
- Motor Nameplate 73
- Motor Overload 73
- High Overload 74
- Motor Start/Stop Precautions 75
- Mounting 75
- Output Devices 76
- Output Display 76
- Overspeed Limit 77
- Permanent Magnet Motors 79
- Position Loop - Follower 82
- (Electronic Gearing) 82
- Speed Reference Selection 83
- Speed Reference Ramp 83
- Enabling the Position Loop 84
- Position Reference Selection 84
- Position Offset 85
- Position Loop Output Limits 86
- Tuning Tips 86
- Position Loop - In Position 87
- Overview 88
- Position Reference Scaling 89
- BW] Reg [Speed 91
- Gain]Filt [Strim2 91
- BW]Filt [SpdTrim2 91
- Position Loop - Position 92
- Position Loop - Registration 94
- Power Loss/Ride Through 95
- Ride Through Operation 97
- Ride Through Configuration 97
- Ride Through Timeout Fault 98
- Precharge Operation 98
- Precharge Timeout Fault 100
- External Precharge 101
- Precharge Staging 101
- Process PI Loop 102
- Process PI Regulator 103
- Process PI Limits 103
- Pulse Elimination Technique 104
- Reflected Wave 104
- Time (μsec) 105
- Remote I/O Adapter 106
- (20-COMM-R) 106
- Adapter PowerFlex 700S 107
- Datalink Programming 111
- Example: 112
- SLC/PLC-5 System 114
- Copy File 117
- Source #N13:112 117
- 1 117
- Source #F12:6 118
- #F13:12 118
- 2 118
- RFI Filter Grounding 119
- Speed Control, Speed Mode 119
- Speed Regulation 119
- Speed PI Regulator 120
- Autotune Speed Reference 121
- Speed Reference Limits 122
- Current Limit Stop 122
- Speed Error 122
- Servo Lock 123
- Speed Regulation Anti-Backup 123
- Proportional Gain 124
- Integral Gain 124
- Speed Regulator Output Limits 126
- Speed Regulator Output Filter 126
- Speed Regulator Tuning 127
- •ft. Tacc can be 129
- Speed Reference 130
- Speed Reference Scaling 131
- Speed Reference Select 132
- Jog Reference 133
- Stop Command 133
- Speed Limits 133
- Accel/Decel Ramp and S-Curve 134
- Inertia Compensation 135
- Friction Compensation 135
- Virtual Encoder 135
- Speed Reference Filter 136
- Speed Reference Scale 136
- Speed/Position Feedback 137
- Encoder 0 141
- Processing 141
- Sensorless 142
- Motor Simulator 142
- Feedback Option Cards 143
- Bit 3 2 Resolution Setting 145
- Motor Position Feedback 147
- Speed/Torque Select 152
- Torque Regulation Mode 153
- Min Mode / Max Mode 154
- Sum Mode 154
- Start Inhibits 155
- Start/Stop Modes 156
- Start-Up 160
- Stop Modes 160
- SynchLink 160
- SynchLink Direct Data 161
- Multiply Block 162
- Buffered Data 163
- Direct Data 165
- Int Real 166
- 64 Parameters 166
- 9. Click the Link Data tab 170
- 11. Click OK 170
- Cycle Power 173
- Sync Generator 174
- Test Points 174
- Thermal Regulator 175
- Torque Reference 175
- Unbalanced or Ungrounded 176
- Distribution Systems 176
- User Functions 177
- Two Position Dint Switch 178
- Configuration: 178
- Voltage Class 180
- Watts Loss 181
- Appendix A History of Changes 184
- Rockwell Automation Support 190
- Documentation Feedback 190
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