Rockwell Automation 20G PowerFlex 750-Series AC Drives User Manual
Page 268
268
Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Chapter 4
Motor Control
Figure 32 - PowerFlex 755 Firmware Flowchart
The following are key parameters related to the Torque Reference control
illustrated in
.
P313 [Actv SpTqPs Mode]
- Active Speed Torque Position Mode
Displays the Speed, Torque, Position Mode that is active, based on the dynamic
selection of modes A, B, C, and D, per P309…P312 [SpdTrqPsn Mode
n], and
digital input conditions programmed via P181 [DI SpTqPs Sel 0] and P182 [DI
SpTqPs Sel 1]. In some cases, such as operation in the SLAT min/max modes, the
final regulation mode may be forced into Speed Regulation. Refer to the Speed,
Torque, and Position mode bits in P935 [Drive Status 1] that indicate the active
regulation mode of the drive when it is running.
P314 [SLAT Err Stpt]
- Speed Limited Adjustable Torque, Error Setpoint
Sets the magnitude of P641 [Speed Error] at which the SLAT function will
release its Forced Speed Mode signal. This condition must exist for the time
specified by P315 [SLAT Dwell Time]. Once released, the drive can operate as a
torque regulator, depending on the relative levels of P660 [SReg Output] and P4
660
699
Min
Max
SReg Output
Inertia Comp Out
0
686
Torque
Step
688
Notch Fltr Atten
685
Selected
Trq Ref
Notch
II
R
687
Notch Fltr Freq
+
+
Inertia
Adaption
76
Total Inertia
705
706
Inertia Adapt BW
InertiaAdaptGain
+
+
+
+
-
+
Filtered Trq
Ref
4
Commanded Trq
689
Select
Logic
313
Actv SpTqPs
Mode
935
21 22 23
Drive Status 1
Torque Mode
PositionMode
Speed Mode
SpdTrqPsn Mode A
708
InertiaTrqAdd
Motor Acceleration
Feedback
0
0
1
Load
Observer/
Estimator
76
Total Inertia
711
Load Observer BW
Motor Acceleration
Feedback
0
0
2
+
Load
Estimate
707
704
InAdp LdObs Mode
Disabled
Disabled
Inertia
Adaption
Load
Observer
SpdTrqPsn Mode B
SpdTrqPsn Mode C
SpdTrqPsn Mode D
181
182
DI SpTqPs Sel 0
DI SpTqPs Sel 1
314
SLAT Err Stpt
315
SLAT Dwell Time
Zero Torque
0
1
2
3
4
5
6
7
8
9
10
Speed Reg
Torq Reg
SLAT
Min
SLAT
Max
Sum
Profiler
Psn P2P
Psn Camming
Psn PLL
Psn Direct
309
310
311
312
0
1
1
1
1
0
0
0
ABCD
Select
From Spd Ref
[7C4]
[10D5]
From Spd Reg
[10I3]
From Torq Ref
[21H4]
[6A1],
[6D2],
[10D5],
[11D2],
[11I1],
[12H5],
[16H2]
To Torq Ctrl
Current
[23a B2],
[23b B2],
[24D2],
[25D2]
[24B4]
[25C5]
0
1
Logic Ctrl State
(Forced Spd)
0
Min/Max Cntrl
(Forced Spd)
1
***INTERNAL CONDITION ONLY***
Mtr Option Cnfg
(Zero TrqStop)
(Trq ModeStop)
(Trq ModeJog)
0
1
2
40
+
FrctnComp Trig
1561
1567
FrctnComp
Out
Friction
Comp
FrctnComp Mode
Int Ramp Ref
1560
700
0
Disabled
0
1
2
Ext Ramped Ref
From
Spd Ref
[7A3]
FrctnComp Hyst
1562
FrctnComp Time
1563
FrctnComp Stick
1564
FrctnComp Slip
1565
FrctnComp Rated
1566
640
3
Filtered SpdFdbk