User Manual High Performance AC Drive

B-14 Control Block Diagramspos_control_inter_dir.eps123456A BC DE FG HICoarse Spd TrgtCoarsePosit TrgtPosition Control(Interp Rev)752751Interp AccelRateInterp Speed750xxInterp Position748 x0749740 13 InterpolatorAux Posit Ref 7431742Posit Ref Sel∆[ N ][ D ]Gear Rat*PositRef EGR Out744+ +Position Control - Interp/Direct*747Position CmmdFirmware 2.XX(Task 2)Xsync Status(Sync Pulse)Motn Posit Syncfrom Speed /PositFdbk [9H3]786 00700 00Position Fdbk762693 00Interp SyncInputp786 or p700 must be linked to p693 forproper Interpolator operation763*Posit Offset 1Posit Offset 2Posit Offset SpdPosition Control(X Offset Pol)Position Control(X Offset Ref)Position Actual∆See Point-to-PointPosition ControlDiagram page 82753+754755 Rate Lim FilterLPass740 04740 05+ -Position Error769741 05CalibConstPositRef EGR MulPositRef EGR DivX Offst SpdFilt756Position Status(X OffRefActl)kp745746P Gain∆+XReg Spd LoLimLimitPosition Status741 2[15H5]Logic Ctrl State(position enable )157 03Output Enable740 01NotchIIR&001Posit Spd Output318to Speed Control- Regulator [5A2]Posit Load FdbkLink764Posit FB EGR MulPosit FB EGR Div[15H5]∆766767Position Control(Integ En)Position Control(Integ Hold)Logic Ctrl State(position enable )[ N ][ D ]Gear Rat740 02740 03157 03Posit Gear RatioMotor Speed( Gear Output Spd )765*Posit Actl LoadInv &796Calib+ + - Const -PositReg P GainPositReg Integ770XReg Integ LoLimXReg Integ HiLimkisI GainPositReg Droop772773768771LimitDroopPosition Status741 00741 01775776XReg Spd HiLim774XReg Integ Out741 3X Notch AttenuX Notch FiltFreq∆778779This point is a delta change. When the position loop is firstenabled the position command and feedback delta are zero.* Position ControlXzero Preset740 08Abs Posit OffsetOn the rising edge (activation) of p741 bit 7 [15H5] thefollowing bit assignments occur:7571) If p740 bit 8 is set, then p763, p765, p744, and p747 getloaded with [Position Fdbk (p762) - Abs Posit Offset (p757)].2) If p740 bit 8 is reset, then p763, p765, p744, and p747 getloaded with the reference value (prior to reference derivativefunction in coordinate [D2]).