Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System User Manual - Manual (Page 164)

Publication 1394-5.0 — May 2000
8-28 Configuring Your 1394 Analog Servo System
1394 Analog Servo Software
Diagrams The following diagrams describe the control loops of the 1394 analog
servo system.
Figure 8.1
1394 Analog Servo Software Diagram (part 1)
T
ORQ
UE SOURCE
T
ABLE
0 =
VEL OUT
1 =
VEL + Dtrq + PLd
2 = DIG
T
o
rq
3 =
VEL + A
T
rq + PLd
4 = A
T
rq1 + PLd
5 = A
T
rq2 + PLd
MODE SELECT
T
ABLE
0 = ANALOG
VEL
1 = ANALOG
T
ORQ
2 = DIGIT
AL
VEL
3 = DIGIT
AL
T
ORQ
112
MODE SEL
360
T
ORQ SOURCE
220
VEL COMMAND
S
+
-
S
+
-
S
+
-
X
+
+
376
FEED FWD GAIN
X
+
+
368
PR
OP GAIN Kp
X
+
+
372
INTG GAIN Ki
S
+
+
S
+
-
X
+
+
380
DR
OOP
A/D
+/- 10v (3V = 8192)
CURRENT LIMITER
184
POS CUR LIM
188
NEG CUR LIM
116
CURRENT LIMIT
192
CUR RA
TE LIM
344
I(t) CUR LIM
260
BRIDGE LIM
228
CUR LIM CA
USE 232
Iq CUR REF
164
CUR PRELO
AD
DIG T
ORQ
REF
212
356
INT T
ORQ
REF
X
+
+ 10
D/A 1 Gain
D/A 1
V
ALUE
12
+/- 10v
(10V = 128)
A/D
+/- 10v
(10v = 32767)
VELOCITY SOURCE
T
ABLE
0 = ANALOG
VEL
1 = DIGIT
AL
VEL
2 = ANALOG + DIGIT
A
L
3 = ZER
O INPUT
364
VEL SOURCE
276
ANLG VEL
OFST
S
+
+
X
+
+
272
ANLG VEL
SCAL
0
348
JOG VEL
VEL REF
WHOLE
204
VEL REF FRA
CT
208
S
+ +
VELOCITY LIMITER
128
CW VEL
LIM
132
CCW VEL
LIM
120
VEL LIM
136
VEL RA
TE LIM
352
INT VEL
REF
124
MTR PEAK CUR
A
TUNE FRICTN
300
INPUT SOURCE
### ###
READ ONL
Y
,
TEST PT
###
CONFIGURA
TION
TYPICAL LINK
Velocity Feedback
Velocity Feedback (filtered)
404
MO
T
OR TYPE
104
MTR RA
TED CUR