Rockwell Automation 9329 Drive Application Software Tension Control Gen. Units - Manual (Page 15)

FM – Tension Control
Drive Application Software – page 15 of 52
4.2.2.7 Open Loop Torque Control with Speed Trim & Torque Feed Forward
This mode of tension regulation trims the speed reference of the section based on
the torque tension set point and torque actual feedback. In addition to trimming
the speed, the torque per tension component is also feed forward to the drive.
This type of control can be beneficial for torque applications with webs of very
high spring coefficients like steel. This configuration requires the “master” section
(speed regulated) adjacent to the torque section be coordinated with the same
speed reference. The tuning for this mode is sometimes very difficult and should
be left for only the most experienced engineers. This is not a typical
(conventional) form of torque control.
4.2.2.8 Torque Follower Control Modes
The Torque Follower Control Modes operate exactly the same as the Open Loop
Torque control modes except the reference input is torque, not tension.
4.2.3 Tension Regulation Mode Selection
The following table indicates the command word settings to activate the listed modes
of tension regulation. The Process line command word is [ wDLx_DrvCmmdProcLn ].
The selected mode of thension control is activated and deactivated with bit 7
[Tension Control Enable] of the command word. If this is low, the selected mode of
tension regulation will be off and the drive will operate in speed mode.
[ X ] indicates high
blank indicates low
Tension Control Mode
Tension Control Enable Bit 07 Tension Control Bit 09 Torque Control Bit 10 Dancer Control Bit 11 Torque Trim Bit 12 Speed Trim Bit 13 Torque Follow Bit 15
Draw trim – no Tension Regulator NA NA NA NA NA NA
Dancer Control with Speed Trim X X X
Dancer Control with Torque Trim X X X
Dancer Ctrl w Speed Trim & Trq FF X X X X
Tension Control with Speed Trim X X X
Tension Control with Torque Trim X X X
Tension Ctrl w Speed Trim & Trq FF X X X X
Open Loop Torque X X X
Open Loop Torque with Speed Trim X X X
Open Loop Trq w Spd Trim & Trq FF X X X X
Torque Follower Control X X X
Torque Follower w Speed Trim X X X
Torque Follower w Spd Trim & Trq FF X X X X