User Manual High Performance AC Drive

Control Block Diagrams B-15pos_control_pt_to_pt.eps123456A BC DE FG HIPt-Pt Posit Ref758740 10Position Control(Pt-Pt ReRef)Posit Ref SelSee Interpolated /DirectPosition Control DiagramPage 6Reref012742741 4Position Status(PtPtRRef Act)∆This point is a delta change . When the position loop is firstenabled the position command and feedback delta are zero.∆Posit Offset 1Posit Offset 2Posit Offset SpdPosition Control(X Offset Pol)Position Control(X Offset Ref)Position ControlAbsPositCtrlPositRef EGR MulPositRef EGR Div745746[ N ][ D ]Gear Rat∆753+754755 Rate Lim FilterLPass740 04740 050740 061741 05744*PositRef EGR Out+ +X Offst SpdFilt756Position Status(X OffRefActl)747Position Control - Point-to-PointPosition Cmmd*Position ControlAbsPositCtrlfrom [15H5]Logic Ctrl State 157 03PositSpfRef > 0.01Position Control(Pt-PtRmpStop)740 20740 06(Task 2)1) Parameter 740 b06 may be set when a multi-turnabsolute feedback device is used for Point to Pointpositioning . Activating p740 b06 will ReRef the positionreference to the absolute feedback when position control isactivated (p741 b07). If the value at p758 is different thanthe feedback in 763 a position error will exist and themachine will move to position when activated .2) When p740 b06 is high the [SetZeroPosit] p740 b09may be used to set the zero “home” position accumulators .This can only be used when the drive is not in run andp740 b06 = 1.3) When p740 b06 is high, p745 & p746 are bypassed . Inabsolute mode the point to point position regulator can onlyuse raw counts as position command .&ORFirmware 3.XXPosition ControlSetZeroPosit740 09Speed Out Enable740 01&Position Fdbk∆Position Error762 769from Speed/PositFdbk [9H3]-+*763Position Actualfrom [15H5]Logic Ctrl State 157 03 InvPosition Control(Pt-PtRmpStop)740 20Posit Gear Ratio&Motor Speed( Gear Output Spd )796CalibConstPositReg P GainPt-Pt Filt BWPt-Pt Accel TimePt-Pt Decel Time768761759760XReg Spd LoLimXReg Spd HiLim775776LimitPoint to Point Position000101X Notch AttenuX Notch FiltFreqPosition Status741 02 (X Spd LLim)741 03 (X Spd HLim)778779Notch* Position ControlXzero PresetIIR001740 08Posit Spd Output318to Speed Control- Regulator [5A2]Abs 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]).