Rockwell Automation 20D PowerFlex 700S AC Drives with Phase II Control Programming Manual - Manual (Page 186)

186 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Appendix C Control Block Diagrams
Interpol
a
tor
x
x
x
748
0 1 2
749 743
742
Ge
a
r R
a t
[ N
]
[ D
]
745 746
Po
s
itRef EGR M
u
l
Po
s
itRef EGR Div
+
R
a
te Lim
753 754 755
LP
ass
Filter
756
744
747
762 764
P G
a
in
kp
768
I G
a
in
ki s
770
Limit
772 773
774
+
Ge
a
r R
a
t
[ N
]
[ D
]
766 767
Link
763
765
Droop
771
Inv
&
Limit
0
318
775 776
Po
s
ition Act
ua
l
Po
s it Actl Lo
a
d
Po
s
itReg Integ Po
s
itReg Droop
Po
s
itReg P G
a
in
XReg Integ O
u
t
Po
s
ition
S
ta
tus
XReg Integ LoLim XReg Integ HiLim
Po
s
ition
S
ta
tus
Co
a
rs
ePo
s
it Trgt
Po
s
ition Control (Interp Rev
)
X
s
ync
S
ta
tus
(S
ync P
u
ls
e)
Interp Po
s
ition
A
u
x Po
s
it Ref
Po
s
it Off
s
et 1
Po
s
it Off
s
et 2
Po
s it Off
s
et
S
pd
X Off
s
t
S
pdFilt
Po
s
ition Control
(X Off
s
et Pol
)
Po
s
ition Control
(XOff ReRef
)
Po
s
itRef EGR O
u
t
Po
s
ition Cmmd
Po
s
ition Control
-
Interp
/Direct (T
as
k 2
)
Po
s
it Lo
a
d Fd
b
k
Po
s
it FB EGR M
u
l
Po
s
it FB EGR Div
Po
s
ition Control
(Integ En
)
Po
s
ition Control (Integ Hold
)
XReg
S
pd LoLim
XReg
S
pd HiLim
*
*
*
Po
s
it Ref
S
el
Po
s
it
S
pd O
u
tp
u
t
769
Po
s
ition Error
from
S
peed
/Po
s
it
Fd
b
k [
9
H
3
]
to
S
peed Control
-
Reg
u
la
tor [
5
A
2
]
S
ee Point
-to
-Point
Po
s
ition Control
Di
a
gr
a
m p
a
ge 8 *
&
740
01
157
03
O
u
tp
u
t En
ab
le
Logic Ctrl
S
ta
te
(p
o
s
ition en
ab
le
)
Logic Ctrl
S
ta
te
(p
o
s
ition en
ab
le
)
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Notch
II R
796
Po
s
it Ge
a
r R
a
tio
741
2
741
3
1
[1
5
H
5
]
740
02
740
03
157
03
C
a
lib
Con
s
t
C
a
lib
Con
s
t
741
00
741
01
779 778 [1
5
H
5
]
0
X Notch Atten
u
X Notch FiltFreq
740
04
740
05
Motor
S
peed
Ge
a
r O
u
tp
u
t
S
pd
()
750
740
13
Co
a
rs
e
S
pd Trgt
693
00
786
00
700
00
Motn Po
s
it
S
ync
p
786 or
p
700 m
us
t
b
e linked to p
693
for
proper Interpol
a
tor oper
a
tion
752 751
Interp AccelR
a
te
Interp
S
peed
Interp
S
yncInp
u
t
741
05
Po
s
ition
S
ta
tus
(XOffReRef Act
)
+
+
+
-
+
-
+
-
Po
s
ition Fd
b
k
*
Po
s
ition Control
Xzero Pre
s
et
740
08
On the ri
s
ing edge
(a
ctiv
a
tion
) of p
741
b
it 7
[15
H
5
]
the
following
b
it
ass
ignment
s
occ
u
r:
1
) If p
740
b
it 8
is
s
et
, then
p
763
,
p
765
,
p
744
,
a
nd p
747
get
lo
a
ded with
[Po
s
ition Fd
b
k (
p
762
)
-
A
bs
Po
s
it Off
s
et (
p
757
)].
2
) If p
740
b
it 8
is
re
s
et
, then
p
763
, p
765
, p
744
,
a
nd p
747
get
lo
a
ded with the reference v
a
lu
e
(prior to reference deriv
a
tive
fu
nction in coordin
a
te [
D
2
]).
757
A
bs
Po
s
it Off
s
et
Thi
s
point i
s
a
delt
a
ch
a
nge
.
When the po
s ition loop i
s
fir
s
t
en
ab
led the po
s ition comm
a
nd
a
nd feed
ba
ck delt
a
a
re zero
.
Δ
Δ
Δ
Δ
Δ
pos_control_inter_dir.eps