USER MNL/DIGITAL AC SERVO DR Manual

Appendix D
Block Diagrams
D-2
Figure E.1
1391-DES Software Block Diagram – Part 1
VEL PI OUTPUT
35
186
FEEDBACK FILTER
INTG VEL ERROR
185
LEAD/LAG LEAD/LAG
VELOCITY FEEDBACK
21
FILTERED VEL
20
–
–
+
PROP VEL ERROR
33
FEEDBACK
22
AVERAGE MTR
184
VEL LOW PASS BW WA
SCALING
169
VELOCITY FEEDBACK
4096 = BASE RPM (1000 RPM)
–
LPF
INTG GAIN
+
172
PROP GAIN
PRESET VAL
INTG
DROOP
+
171
DROOP
COMP
FRICTION
VEL REF WHOLE
+/– 10V
A/D
+
FEED FWD
(10v = 8192)
FEED FWD GAIN
17
SUM
ANALOG VELOCITY OFFSET
2 1
210
GAIN
+
–
168
PROP GAIN Kp
18
VEL REF FRACT
+
1
+
2
+/– 9v
(3v = 4096)
EXT. TORQUE REF.
+
34
44
A/D
0
bit
SELECT
57
COMMAND
ANALOG
VELOCITY
GAIN
211
ANALOG
VELOCITY
132
0
0 3
MODE
VEL
LOSE
ENABLE
CURRENT (AMPS) RATED MOTOR
FEEDBACK
ACCUMULATOR
POSITION FEEDBACK
133
PRELOAD CURRENT
4096 = 100%
RESOLVER POSITION
RESOLVER TURNS
23 24
PRELOAD
159
0
5
+
+
+
1
SELECT TORQUE
155
SLOW VOLATILE SLOW PARAMETER PARAMETER (TEST POINT) FAST SOURCE FAST SINK
CURRENT LIMITER
RATE LIM
CURRENT
CUR LIM
4
+
+
+
0 3
+
+
2
0
bit
HOLD
NEGATIVE
48
POSITIVE
157
CUR LIM
156
CUR LIM
VELOCITY
COMMAND
STOP
19
IT PROTECT LIM.
BRIDGE
47
GAIN
A/D
MOTOR CURRENT 4096 = RATED
Iq CURRENT REF.
45
158
10 BIT
MOTOR TYPE
154
51
LIMIT
CURRENT
49
FEEDBACK
CURRENT
50
CURRENT FEEDBACK SCALE
RATED
GAIN KN VELOCITYBW WN
FEEDBACK
GAIN Ki
INTG
PRE RAMP VEL
25
145
VEL LIMIT
CCW
RATE LIMIT
146
VEL
VEL LIMIT
144
CW
LIMITER
VELOCITY
RAMP
ACC/DEC
170
O = VEL MODE 1
(VELOCITY REGULATOR PI OUTPUT)
1 = VEL MODE 2
(PI OUTPUT + CURRENT PRELOAD)
2 = TORQUE BLOCK
(EXTERNAL TORQUE REF.)
3 = VEL MODE 3
+ CURRENT PRELOAD)
TORQUE SELECT TABLE
4 = A/D TQ BLK
(CURRENT PRELOAD + A/D)
0 = A/D INPUT 1 = DIGITAL INPUT 2 = A/D + DIGITAL INPUT 3 = ZERO INPUT
VELOCITY MODE TABLE
(PI OUTPUT + A/D
5 = ZERO VELOCITY REF.