Manual

Publication 1756-UM522B-EN-P - February 2003
B-6 1756-DMD30 Specific Information
Position Control - Interpolated/Direct
Interpolator
x
x
x
786 00 740 13
748
751
Synchronize
0
1 2
750
749 743
742
Gear Rat
[ N ] [ D ]
745 746
PositRef EGR Mul
PositRef EGR Div
+
Rate Lim
753 754 755
LPass
Filter
756
740 04 740 05
Accum
Σ
744
+
747
762 764
P Gain
kp
768
I Gain
ki
s
770
Limit
772 773
741 00
774
+
Gear Rat
[ N ] [ D ]
766 767
Link
763 765
Calib
Const
Calib
Const
Droop
771
Inv &
740 02 740 03
&
152 17 152 26 157 03
Limit
1
0
318
775 776
&
740 01 157 03
0
741 02
Act Motor Posit Posit Actl Load
PositReg Integ
PositReg Droop
PositReg P Gain
XReg Integ Out
Position Status
XReg Integ LoLim
XReg Integ HiLim
Position Status
CoarsePosit Trgt
Position Control
(Interp Rev)
Xsync Status
(Sync Pulse)
Interp Spd Scale
Interp Speed
Interp Position
Aux Posit Ref
Posit Offset 1 Posit Offset 2
Posit Offset Spd
X Offst SpdFilt
Position Control
(X Offset Pol)
Position Control
(X Offset Ref)
PositRef EGR Out
Position Cmmd
Position Control
(Speed Out En)
Logic Ctrl State
(Position En)
Position Control (4 ms)
Interpolated/Direct
Mtr Posit Fdbk
Posit Load Fdbk
Posit FB EGR Mul
Posit FB EGR Div
Position Control
(Integ En)
Position Control
(Integ Hold)
Applied LogicCmd
(Start)
Applied LogicCmd
(Position En)
Logic Ctrl State (Position En)
741 01
741 03
XReg Spd LoLim
XReg Spd HiLim
*
*
*
Posit Ref Sel
Posit Spd Output
769
Position Error
from Speed/Posit
Fdbk [9H2]
to Speed Control
- Regulator [3A2]
Deriv
∆
Deriv
∆
See Point-to-Point
Position Control
Diagram page 6
Deriv
∆
Accum
Σ
Accum
Σ
Accum
Σ
Accum
Σ
Accum
Σ
Logic Ctrl State
(Position En)
*
740 06
Position Control (ActPosit Rst)
If p740 b6 = 1 and the position regulator is NOT enabled, accumulated values are set to the value of p762. If p740 b6 = 0 and the position regulator is NOT enabled, accumulated values are set to the reference value.
*
+ - + -
+ -
1 2 3 4 5 6
BA
D
C
FE HG I
157 03
0
(X Spd LLim)
(X Spd HLim)