Rockwell Automation 20D PowerFlex 700S Drive Ph I Control, Frames 1...11 - Manual (Page 199)

Control Block Diagrams B-7
See Interpolated/Direct
Position Control Diagram
Page 6
PositReg P Gain
Pt-Pt Filt BW
Pt-Pt Accel Time Pt-Pt Decel Time
Position Control (2ms)
Point-To-Point
PositRef EGR Mul PositRef EGR Div
Pt-Pt Posit Ref
Position Control
(Pt-Pt ReRef)
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
*
*
Posit Ref Sel Mtr Posit Fdbk
Position Error
0
Act Motor Posit *
1
(X Spd LLim) (X Spd HLim)
0
Logic Ctrl State
(Position En)
∑
768 761 759 760
Reref
758
740
10
0 1 2
742
Gear Rat
[ N ] [ D ]
745 746
+
Rate Lim
753 754 755
LPass
Filter
756
740
04
740
05
744
+
747
762
769
0
318
775 776
741
02
Position Status
741
03
XReg Spd LoLim XReg Spd HiLim
Posit Spd Output
to Speed Control - Regulator [3A2]
Point to Point Position
763 Deriv
Accum
Accum
Deriv
Accum
Accum
from Speed/Posit
Fdbk [10H2]
Limit
157
03
+ -
Deriv
&
740
01
157
03
Logic Cntrl State [7G5] Speed Out Enable
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)]. 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). 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 [7D2]).
741
4
Position Status (PtPtRRef Act)
∑
∑
∑
∆
∆
∆
7