Instruction Manual

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 177
Control Block Diagrams Appendix C
spd_control_ref.eps
30 31
32 33 34
&
0
153 00
37
153 01
35 36
38
21
61
64
65 68 66 67
151 11
56
9
57 58
Spe
ed Control - Reference
(Task 2)
Max
X
1
0
47
43
62
63
Limit
Control Options
Applied LogicCmd
41
Min Spd Ref Lim
Max Spd Ref Lim
Limited S pd Ref
Inertia Comp
Dn
Dt
Inertia SpeedRef
InertiaAccelGain
InertiaDecelGain
Total Inertia
Logic Command
(Inertia Comp)
Logic Command
(Frict Comp)
FricComp Trq Add
FricComp Setup
FricComp Stick
FricComp Slip
FricComp Rated
69
59
45
Delayed Spd Ref
FricComp Spd Ref
Link
Link
Spd Ref Bypass
Control Options
(SRef Filt En)
SpdRef Filt Gain
SpdRef Filt BW
Scaled Spd Ref
SpdRef + SpdTrm 1
Speed Trim 1
Ramped Spd Ref
Speed Ref Scale
Virt Encoder EPR
Virt Encdr Posit
Virt Encdr Dlyed
S Curve Time
Accel Time 1
Decel Time 1
Logic Command
(SpdRamp Dsbl)
Logic Command
(Spd S Crv En)
Logic Ctrl State (SRef Ramp En)
Logic Ctrl State (SRef SCrv En)
Inertia Trq Add
(Unipol Fwd)
+1
(Unipol Rev ) -1
to Speed Control -Regulator [5A2]
to Torque
Co
ntrol [7B2]
to Torque Control [7B2]
Delay
One
Scan
Delay
One
Scan
1 2 3 4 5 6
BA
D
C
FE HGI
60DeltaSpeedScale
151 10
55 Speed Comp
Lead Lag
(kn * s)+ wn
s + wn
0
152 21152 20
0
40
Selected Spd Ref
151 00
151 01
157 02
157 01
43
Ramped Spd Ref
Ramped Spd Ref
Link
Inv
53
Drive Ramp Rslt {Integer Based }
from 3H2
+
+
Ramp
S Curve
Logic Command
(SpdRamp Hold)
151 04
Spd Ref Bypass2
48Link
lpf
54
153 21
Control Options
Friction Comp
Virtual Encoder
1
0
157 00 0
Logic Ctrl State
X
46