Position control (2ms) interpolated/direct, B-6 control block diagrams – Rockwell Automation 20D PowerFlex 700S Drive Ph I Control, Frames 1...11 User Manual
Page 198
B-6
Control Block Diagrams
See Point-to-Point
Position Control
Diagram page 7
PositRef EGR Mul
PositRef EGR Div
XReg Integ Out
Position Status
XReg Integ LoLim
XReg Integ HiLim
Position Status
CoarsePosit Trgt
Position Control
(Interp Rev)
Interp Speed
Interp Position
Aux Posit Ref
Posit Offset 1
Posit Offset 2
Posit Offset Spd
X Offst SpdFilt
Position Control
(X Offset Pol)
Position Control
(X Offset Ref)
PositRef EGR Out
Position Cmmd
Position Control (2ms)
Interpolated/Direct
Mtr Posit Fdbk
Posit Load Fdbk
Posit FB EGR Mul
Posit FB EGR Div
Position Control
(Integ En)
Position Control
(Integ Hold)
XReg Spd LoLim
XReg Spd HiLim
*
*
*
Posit Ref Sel
Posit Spd Output
Position Error
from Speed/Posit
Fdbk [10H2]
to Speed Control
- Regulator [3A2]
Logic Ctrl State
(position enable) [7F5]
Logic Ctrl State
(position enable) [7G5]
Interp Accel Rate
Xsync Status
Motn Posit Sync
Interpolator
x
x
x
740
13
748
Interp SyncInput
0
1
2
751
749
743
742
Gear Rat
[ N ]
[ D ]
745
746
+
Rate Lim
753
754
755
LPass
Filter
756
740
04
740
05
Accum
744
+
747
762
764
P Gain
kp
768
I Gain
ki
s
770
Limit
772
773
741
00
774
+
Gear Rat
[ N ]
[ D ]
766
767
Link
763
765
Calib
Const
Calib
Const
Droop
771
Inv
&
740
02
740
03
Limit
1
0
318
775
776
741
02
Act Motor Posit
Posit Actl Load
PositReg Integ
PositReg Droop
PositReg P Gain
741
01
741
03
769
Deriv
Deriv
Deriv
Accum
Accum
Accum
Accum
Accum
Logic Ctrl State
(Position En)
*
157
03
0
(X Spd LLim)
(X Spd HLim)
+
-
+
-
+
-
&
740
01
157
03
Output Enable
Deriv
157
03
1
2
3
4
5
6
B
A
D
C
F
E
H
G
I
Position Control
ActPosit Rst
*
Position Control
Xzero Preset
740
06
740
08
On the rising edge (activation) of p741 bit 7 [8G5] the following bit
assignments occur:
If p
740 bit 8 is set, then p763, p765, p744, and p747 get loaded
with [Mtr Posit Fdbk (p762) - Abs Posit Offset (p757)]. Also, p722
(test point 7) gets loaded with [ - Abs Posit Offset (p757)].
If p
740 bit 8 is reset and p740 bit 6 is set, then p763, p765, p744,
and p747 get loaded with Mtr Posit Fdbk (p762). Also, p722 (tp 7)
gets loaded with the value 0.
If p
740 bit 8 is reset and p740 bit 6 is reset, then p763, p765,
p744, and p747 get loaded with the reference value (prior to
reference derivative function [6D2]). Also, p722 (tp 7) gets loaded
with (p763 - p762). This is the only combination for motion control.
CoarseSpd Trgt
750
752
786
00
p786 bit 0 or p919 must be linked to p1003 for proper
Interpolator operation.
0
155
06
Logic Status
1
919
00
1003
00
∑
∑
∑
∑
∑
∑
∆
∆
∆
6