Manual

Publication 1756-UM522B-EN-P - February 2003
1756-DMD30 Specific Information B-7
Position Control - Point to Point
768 761 759 760
PositReg P Gain
Pt-Pt Filt BW
Pt-Pt Accel Time
Pt-Pt Decel Time
Position Control (4 ms)
Point-To-Point
Reref
758
740 10
0
1 2
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
744
+
747
Pt-Pt Posit Ref
Position Control
(Pt-Pt ReRef)
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
*
*
Posit Ref Sel
762
Mtr Posit Fdbk
769
Position Error
0
318
775 776
&
740 01 157 03
0
741 02
Position Status
741 03
XReg Spd LoLim
XReg Spd HiLim
Posit Spd Output
to Speed Control
- Regulator [3A2]
Point to Point Position
763
Act Motor Posit
*
Position Control
(Speed Out En)
Logic Ctrl State
(Position En)
1
See Interpolated/Direct
Position Control Diagram
Page 5
Deriv
∆
Accum
Σ
Accum
Σ
Deriv
∆
Accum
Σ
Accum
Σ
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.
*
from Speed/Posit
Fdbk [9H2]
Limit
(X Spd LLim) (X Spd HLim)
+ -
0
Logic Ctrl State
(Position En)
1 2 3 4 5 6
BA
D
C
FE HG I
Logic Ctrl State
[Position En]
157 03