Rockwell Automation 1395 Digital DC Drive FRN 5-10.10/9.30 - Manual (Page 121)

Chapter 5
Functional Description
5-35
5
VELOCITY PI CONTROL
INTEGRAL
GAIN
FUNCTION
AUTO TUNE
GAIN
KF VELOCITY
LOOP
661
Final
Vel Ref
104
RPM
H
65536
INTEGRATOR
FEED
FORWARD
KF GAIN
REV TORQUE
LIMIT
From Sht 3
TORQUE
MODE
SELECT
625 VALUE
0
1
2
3
SPEED
DETECTION
SLAVE %
100
SLAVE
PERCENT 2
FEEDBACK FILTER 631
4096 = MOTOR BASE SPEED
+
–
RPM
Velocity
Feed Forward
108
KP VELOCITY
LOOP
660
8
PROPORTIONAL
GAIN
FUNCTION
KP GAIN
TACH
SWITCH KP
690
+
123
0
+
H
C
B
KI GAIN
8.3886
AUTO TUNE
GAIN
KI VELOCITY
LOOP
659
MIN
MAX
+
+
4
5
625
TORQUE
MODE
FWD TORQUE
LIMIT
From Sht 3
B
C
FWD TORQUE
LIMIT
From Sht 3
REV TORQUE
LIMIT
From Sht 3
%
8
TORQUE SELECT
TORQUE
COMMAND
110
4096 = 100%
RATED TORQUE
+
–
T
S
124
+ –
+ +
SLAVE PERCENT 2
670
%
+ + SLAVE %
100
SLAVE
PERCENT
%
SLAVE PERCENT 1
669
POSITION FDBK
107
VELOCITY FDBK
106
To Sheet 3
RPM
4096 = IPU POSITION
%
11 AT SPEED 1 100
12 AT SPEED 2 100
709 UP TO
SPD TOLERANCE
13 AT SPEED 3 100
14 AT SPEED 4 100
15 AT SPEED 5 100
10 AT ZERO SPEED 100
9 AT SET SPEED 100
710 ZERO
SPD TOLERANCE
704 AT
SPEED 1
705 AT
SPEED 2
706 AT
SPEED 3
707 AT
SPEED 4
708 AT
SPEED 5
If 631 = 1,2
T (S) =
W 1
2 (S+W2) 2
W 2
2 (S+W1) 2
35/49 = W 1 = 35
W 2 = 49
20/40 = W 1 = 20
W 2 = 40
W 1 W 2
If 631 = 3
T (S) = ( GAIN/256) (S + W
N
)
S + W
N
SYMBOL PARAMETER TYPE
SINK
SOURCE
SET UP
TACH
SWITCH KI
689
%
167
Torque Ref 2
4096 = 100%
157
Torque Ref
4096 = 100%
109
Position
Error