Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual User Manual
Page 86
86
Rockwell Automation Publication 750-PM001J-EN-P - October 2014
Chapter 3
Drive Port 0 Parameters
DR
IV
E C
FG
Co
n
tr
ol
C
fg
309
310
311
312
SpdTrqPsn Mode A
SpdTrqPsn Mode B
SpdTrqPsn Mode C
SpdTrqPsn Mode D
Speed Torque Position Mode A, B, C, D
Applies only to the Flux Vector control modes in P35 [Motor Ctrl Mode], options 3
“Induction FV,” 6 “PM FV,” and 10 “IPM FV.”
It selects between speed regulation, torque regulation, or position regulation operation
of the drive. The source of P685 [Selected Trq Ref] will be determined by the selection in
this parameter when P181 [DI SpTqPs Sel 0] and P182 [DI SpTqPs Sel 1] have selected
“Disabled” or selected bits that are logic low.
In P935 [Drive Status 1] three bits are provided that indicate the regulation mode of the
drive when it is running. Bit 21 “Speed Mode” will become set when the drive is running
with the speed regulator active. Similarly, Bit 22 “PositionMode” and Bit 23 “Torque
Mode” indicate when their respective regulation modes are active.
Under some conditions, the active torque mode may be forced into speed mode
regardless of the setting of Speed/Torque/Position. The P313 [Actv SpTqPs Mode]
parameter will indicate this and will reflect the mode selection that is in use.
Possible selections for Speed/Torque/Position are:
“Zero Torque” (0) – Drive operates as a torque regulator with P685 [Selected Trq Ref]
forced to a constant value of zero torque.
“Speed Reg” (1) – Drive operates as a speed regulator. P685 [Selected Trq Ref] comes
from P660 [SReg Output] plus P699 [Inertia Comp Out].
“Torq Reg” (2) – Drive operates as a torque regulator. P685 [Selected Trq Ref] comes
from P4 [Commanded Trq]. Under some conditions such as jogging or performing a
ramp to stop operation, the drive will automatically bypass this selection and
temporarily switch to speed regulation mode.
“SLAT Min” (3) – Drive operates in “Speed Limited Adjustable Torque – Minimum select”
mode. This is a special mode of operation used primarily in web handling applications.
The drive will typically operate as a torque regulator, provided that the P4 [Commanded
Trq] value is algebraically smaller in value than the speed regulator’s output. The drive
may automatically enter speed regulation mode, based on conditions within the speed
regulator and the magnitude of the speed regulator’s output relative to the torque
reference.
“SLAT Max” (4) – Drive operates in “Speed Limited Adjustable Torque – Maximum
select” mode. This is a special mode of operation used primarily in web handling
applications. The drive will typically operate as a torque regulator, provided that the P4
[Commanded Trq] value is algebraically larger in value than the speed regulator’s
output. The drive may automatically enter speed regulation mode, based on conditions
within the speed regulator and the magnitude of the speed regulator’s output relative to
the torque reference.
“Sum” (5) – Drive operates as a speed regulator. P685 [Selected Trq Ref] comes from
P660 [SReg Output] plus torque adders summed with P4 [Commanded Trq].
“Profilier” (6) – Drive uses the Speed Profiler / Position Indexer function. The drive
operates as either a speed or position regulator. Mode of operation will depend on the
configuration of the Step Types in the Profiler / Indexer table. See
.
“Psn PTP” (7) – Drive operates as a position regulator. P685 [Selected Trq Ref] has the
same source as in Sum mode. The position control is active in Point-to-Point mode and
uses its Point-to-point position reference. To jog in the Position mode, set P635 [Spd
Options Ctrl] Bit 6.
“Psn Camming” (8) – Drive operates as a position regulator. P685 [Selected Trq Ref] has
the same source as in Sum mode. The position control is active in Position CAM mode
and uses its PCAM Planner position and speed reference.
“Psn PLL” (9) – Drive operates as a position regulator. P685 [Selected Trq Ref] has the
same source as in Sum mode. The position control is active in Position Phase Lock Loop
mode and uses its PLL Planner position and speed reference.
“Psn Direct” (10) – Drive operates as a position regulator. P685 [Selected Trq Ref] has
the same source as in Sum mode. The position control is active in Direct mode and uses
its Direct Position Reference.
“Psn SpdlOrnt” (11) – Drive operates in the positioning mode to position the load side of
a machine to P1582 [SO Setpoint]
Default:
Options:
1 = “Speed Reg”
0 = “Zero Torque”
1 = “Speed Reg”
(1)
2 = “Torque Reg”
3 = “SLAT Min”
4 = “SLAT Max”
5 = “Sum”
6 = “Profilier”
7 = “Psn PTP”
8 = “Psn Camming”
9 = “Psn PLL”
10 = “Psn Direct”
11 = “Psn SpdlOrnt”
(1) All options, except “Speed Reg,” require
the drive to be set to a Flux Vector motor
control mode. See P35 [Motor Ctrl Mode].
RW 32-bit
Integer
Fi
le
Grou
p
No.
Display Name
Full Name
Description
Values
Re
ad
-W
ri
te
Da
ta
T
ype
755
755
755
755