Rockwell Automation 20D PowerFlex 700S Drive Ph I Control, Frames 1...11 - Manual (Page 127)

Programming and Parameters 3-73
768 PositReg P Gain
Sets position regulator gain as measured from position error to speed reference. The gain
number is identically equal to position regulator bandwidth in rad/sec. For example: A
gain of 10 means that a per unit position error of 0.1 sec. will effect a 1.0 pu speed
change (1 per unit position error is the distance traveled in 1 sec. at base motor speed).
The maximum value of this parameter is typically 1/3 of the speed bandwidth (rad/sec)
but may be set considerably higher with careful tuning of the speed regulator output lead/
lag filter.
Units:
Default:
Min/Max: R/S
4.0000
0.0000/200.0000 v ✓ Real
769 Position Error
Actual position error in motor pulse counts. When the position regulator is not enabled,
this 32 bit integer register is initialized to zero. When the position regulator is enabled, this
parameter contains the running value of position error, often referred to as “following
error”.
Default:
Min/Max: 0
-/+2147483648 32-bit
Integer
770 PositReg Integ
Sets position regulator integral gain as measured from position error to velocity reference.
It has gain units of (per unit velocity/sec) / (per unit position) and is unit compatible with
Par 768 [PositReg P Gain]. An integral gain of 25 means that a per unit position error of
0.1 sec will effect a 2.5 pu speed change per sec. A typical maximum value is _*[PositReg
P Gain]2. Note: 1 per unit position is the distance traveled in 1 sec. at base motor speed.
Units:
Default:
Min/Max:
Comm Scale: /S2
4.0000
0.0000/1000.0000
x 1 ✓ ✓ Real
771 PositReg Droop
Position Droop limits the low frequency gain of the position regulators integral channel to
a value of (1/droop). It provides a means to fine tune the stability for load mounted
feedback devices where lost motion may cause a problem. Typically, position droop will
have a value that is less than (1/position gain), perhaps even zero for tightly coupled
loads. Position droop has a gain value of (per unit position) / (per unit speed). Note: 1 per
unit position is the distance traveled in 1 sec. at base motor speed.
Default:
Min/Max: 0.0000
0.0000/0.2500 ✓ ✓ Real
772 XReg Integ LoLim
The negative limit of the position integrator.
Units:
Default:
Min/Max:
Comm Scale: RPM
-176.4000
-14112.0000/0.0000
Par 4 [Motor NP RPM] = 1.0 ✓ ✓ Real
773 XReg Integ HiLim
The positive limit of the position integrator.
Units:
Default:
Min/Max:
Comm Scale: RPM
176.4000
0.0000/14112.0000
Par 4 [Motor NP RPM] = 1.0 ✓ ✓ Real
774 XReg Integ Out
The output of the position regulator integral channel after application of the limits. This
output is set to zero if the integral gain is set to zero or the integrator is not enabled.
Units:
Default:
Min/Max:
Comm Scale: RPM
0
-/+14112.0000
Par 4 [Motor NP RPM] = 1.0 Real
775 XReg Spd LoLim
The negative limit of total position regulator output. Point to point mode uses this
parameter to set the reverse speed reference.
Units:
Default:
Min/Max:
Comm Scale: RPM
-176.4000
-14112.0000/0.0000
Par 4 [Motor NP RPM] = 1.0 ✓ ✓ Real
776 XReg Spd HiLim
The positive limit of total position regulator output. Point to point mode uses this
parameter to set the forward speed reference.
Units:
Default:
Min/Max:
Comm Scale: RPM
176.4000
0.0000/14112.0000
Par 4 [Motor NP RPM] = 1.0 ✓ ✓ Real
777 Posit TP Select
Enter or write a value to select position regulator data displayed in Par 778 [Posit TP Data
Int] and Par 779 [Posit TP DataReal].
Default:
Options: 0
0
1
2
3
4
5
6
7
8 “Zero”
“Zero”
9 “Limiter Out”
“del Xos Vout” 10 “Ref EGR In”
“del Xcmd” 11 “OffsetSpdLim”
“del Act Load” 12 “PtoP SpdLim”
“del Act Mtr” 13 “Sec per Edge”
“Integ Error” 14 “Edge per Sec”
“Xprop Out” 15 “Ratio Guess”
“Reserved” 16 “Sync Count”
“PreLim Xvout”
778 PositTP Data Int
Displays the data selected by Par 777 [Posit TP Select]. This display should only be used
if the selected value is integer data.
Default:
Min/Max: 0
-/+2147483648 32-bit
Integer
779 PositTP DataReal
Displays the data selected by Par 777 [Posit TP Select] in RPM. This display should only
be used if the selected value is floating point data.
Units:
Default:
Min/Max:
Comm Scale: RPM
0.0000
-/+3.8880799961088.0000
Par 4 [Motor NP RPM] = 1.0 Real
780 PositDetct1 Stpt
Provides the setpoint for Position Watch 1. Position Watch 1 is enabled and configured
with Par 740 [Position Control] bits 16 & 17. Position Watch 1 compares this value with
Par 784 [Posit Detct1 In] and sets bit 8 [Posit Watch1] of Par 741 [Position Status] when
the appropriate condition is satisfied.
Default:
Min/Max: 0
-/+2147483648 32-bit
Integer
781 PositDetct2 Stpt
Provides the setpoint for Position Watch 2. Position Watch 2 is enabled and configured
with Par 740 [Position Control] bits 18 & 19. Position Watch 2 compares this value with
Par 785 [Posit Detct2 In] and sets bit 9 [Posit Watch2] of Par 741 [Position Status] when
the appropriate condition is satisfied.
Default:
Min/Max: 0
-/+2147483648 ✓ ✓ 32-bit
Integer
No.
Name
Description
Values Li
nkab
le
Read
-Wr
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e
Da
ta
T
ype