Rockwell-automation SA500 Drive Configuration and Programming Manual de usuario descargar pdf (Pagina 109)

SA500 Control Algorithms

C-3

Input position reference values are received from UDC tasks. These position

reference values are then converted into position data which is scaled and compared

with position feedback values to calculate the amount of position error (POS_ERR%,

SPD_REF% (register 107/1107)

The position error is then fed into a PI block where its output value is added to a

feedforward value to provide a velocity output (POS_REG_OUT%, register 209/1209)

for the speed loop. PI block gain values can be adjusted through the crossover

frequency (WCOP%, register 160/1160) and the damping factor (ZETAP%, register

161/1161).

Position loop velocity output values are limited by the variables limit plus (POS_LP%,

is reached, TRQ_SP@ (bit 4 of register 200/1200) is set. If the negative limit is

reached, TRQ_SM@ (bit 5 of register 200/1200) is set. The integral value in the PI

block is clamped whenever the positive or negative limits are reached.

See the block diagrams that follow for further information.

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Rockwell-automation SA500 Drive Configuration and Programming Manual de usuario Pagina 109