PowerFlex 750-Series AC Drives User Manual

3-94 Programming and ParametersFileGroupPOSITION CONTROLPosition RegNameDescriptionNo.837 755 Psn Load ActualPosition Load ActualIndicates accumulated output of the load gear ratio as a 32-bit integer and formsthe primary feedback for the position regulator integral channel. It is veryimportant that the load gear ratio be precisely set such that the delta pulse countof one motor revolution equals the delta pulse count of this parameter.838 Psn Reg KiPosition Regulator KiSets position regulator integral gain as measured from position error to velocityreference. The value has gain units of (P.U. velocity/sec) / (P.U. position) and isunit compatible with the position regulator proportional gain P839 [Psn Reg Kp].An integral gain of 25 means that a per unit position error of 0.1 sec will effect a2.5 P.U. speed change per sec.839 Psn Reg KpPosition Regulator KpSets position regulator gain as measured from position error to speed reference.The gain number is identically equal to position regulator bandwidth in rad/sec.For example: A gain of 10 means that a P.U. position error of 0.1 sec. will effect a1.0 P.U. speed change (1 per unit position error is the distance traveled in 1 sec.at base motor speed). The maximum value of this parameter is typically 1/3 of thespeed bandwidth (rad/sec) but may be set considerably higher with careful tuningof the speed regulator output lead/lag filter.840 PReg Pos Int LmtPosition Regulation Positive Integral LimitSets positive limit of the position regulator integral output.841 PReg Neg Int LmtPosition Regulation Negative Integral LimitSets negative limit of the position regulator integral output.842 PsnReg IntgrlOutPosition Regulation Integral OutputIndicates output of the position regulator integral channel after the limit function.843 PsnReg Spd OutPosition Regulation Speed OutputIndicates final output of the position regulator.844 PReg Pos Spd LmtPosition Regulation Positive Speed LimitSets positive speed limit of total position regulator output.845 PReg Neg Spd LmtPosition Regulation Negative Speed LimitSets negative speed limit of total position regulator output.846 Psn Reg DroopPosition Regulation DroopSets position droop which limits the low frequency gain of the position regulatorsintegral channel to a value of (1/droop). This parameter provides a means to finetune the stability for load mounted feedback devices where lost motion maycause a problem. Typically, the position droop will have a value that is less than(1/position gain), perhaps even zero for tightly coupled loads. The position droophas a gain value of (P.U. position) / (P.U. speed). Note: 1 P.U. position is thedistance traveled in 1 sec. at base motor speed.847 Psn FdbkPosition FeedbackIndicates the accumulated pulse count of the position feedback selected by theposition feedback select [P135].ValuesDefault: 0Min/Max: –2147483648 / 2147483647Default: 4.00Min/Max: 0.00 / 1000.00Units: R/SDefault: 4.00Min/Max: 0.00 / 200.00Units: %Default: 100.00Min/Max: 0.00 / 800.00Units: %Default: –100.00Min/Max: –800.00 / 0.00Units:Default:Min/Max:Units:Default:Min/Max:HzRPM0.00–/+P27 [Motor NP Hertz] x 8–/+P28 [Motor NP RPM] x 8HzRPM0.00–/+P27 [Motor NP Hertz] x 8–/+P28 [Motor NP RPM] x 8Units: %Default: 10.00Min/Max: 0.00 / 800.00Units: %Default: –10.00Min/Max: –800.00 / 0.00Units: SecsDefault: 0.00Min/Max: 0.00 / 25.00Default: 0Min/Max: –2147483648 / 2147483647Read-WriteData TypeRO32-bitIntegerRW RealRW RealRW RealRW RealRORORealRealRW RealRW RealRW RealRO32-bitIntegerPowerFlex 750-Series User Manual – Publication 750-UM001C-EN-P – September 2009