Rockwell Automation 9329 Drive Application Software Tension Control Gen. Units - Manual (Page 21)

FM – Tension Control
Drive Application Software – page 21 of 52
4.5 Regulator routine
The regulator routine is responsible for closing the tension, position or torque loop. This
routine is also responsible for switching between stall and run reference. When enabled, the
regulator will ramp the reference set point from the feedback value to the set point.
This routine accepts the feedback directly from the analog input module. The routine will
then scale the feedback from minimum tension reference to a maximum tension reference.
This routine also generates a feed forward torque reference based on the tension set point,
roll radius, gear ratio and motor rated torque.
The closed loop system consists of a lead-lag filter and a PI regulator. This has the ability to
close all three types of tension regulation loops (tension, position or torque). When the
regulator is configured for tension, the feedback is actual tension from a load cell. When the
regulator is configured for position, the feedback is the actual position feedback of a dancer.
There is a signal generated in the routine that may be optionally used to apply loading
pressure to the dancer. When the regulator is configured for torque, the feedback is the
torque feedback from the drive.
Input Parameters
Name Type Range Description
1 TenStp_DC REAL NA Tension set point [Data Counts](RAW)
2 TenStpMin_DC REAL NA Min Tension set point [Data Counts]
3 TenStpMax_DC REAL NA Max Tension set point [Data Counts]
4 TenRfStall_Pct REAL 0 to 100 Tension Reference Stall Percent
5 TenRfStallMin_Pct REAL 0 to 100 Tension Reference Stall Min Percent
6 TenRfTaper_Pct REAL 0 to 100 Tension Reference Taper %
7 DanStpt_Pct REAL 0 to 100 Dancer Set point [% of Full Storage]
8 RfRate_PctSec REAL 0 to 100 Reference Rate [% per Second]
9 TenDanFb_DC REAL NA Tension/Dancer Fdbk [Data Counts]
10 TenDanFbMin_DC REAL NA Minimum Tension/Dancer Feedback
11 TenDanFbMax_DC REAL NA Maximum Tension/Dancer Feedback
12 TrqFb_PU REAL -2.0 to 2.0 Torque Feedback [Per Unit]
13 TrimKP REAL 0 to 50 Trim Regulator Proportional Gain
14 TrimWld_Rad REAL 0 to 5 Trim Regulator Lead Frequency
15 TrimLimSpd_Pct REAL 0 to 100 Speed Trim Limit [% Max Line Speed]
16 TrimLimSpdZero_Pct REAL 0 to 100 Speed Trim Limit at Zero Speed
17 LineSpdTrimLimSpd_Pct REAL 0 to 100
Line Speed where full speed trim will
be available
18 TrimLimTrq_Pct REAL 0 to 100 Torque Trim Limit [% of Max Tension]
19 TrimRate_PctSec REAL 0 to 100 Trim Rate [% Unit/Second]
20 TrimFbWLead_Rad REAL 0 to 10 Feedback Lead Frequency [Rad/Sec]
21 TrimFbWLag_Rad REAL 0 to 200 Feedback Lag Frequency [Rad/Sec]
22 DrvTrqRfJLoss_PU REAL -2.0 to 2.0 Inertia & Losses Torque Ref to Drive
23 LineSpd_EU REAL NA Line Speed [Engineering Units]
24 LineSpdMax_EU REAL NA Line Speed Maximum
25 MtrSpdBase_RPM REAL NA Base Speed from Motor Name Plate
26 Constant_RPMperEU REAL XXX Converstion Constant
27 BuildUpRate REAL XXX Build Up Ratio
28 TrqRf_Pct REAL -100 to 100 Torque Reference [% Rated Torque]