Owner's manual
Control Block Diagrams B-7
See Interpolated/Direct
Position Control Diagram
Page 6
PositReg P Gain
Pt-Pt Filt BW
Pt-Pt Accel Time
Pt-Pt Decel Time
Position Control (2ms)
Point-To-Point
PositRef EGR Mul
PositRef EGR Div
Pt-Pt Posit Ref
Position Control
(Pt-Pt ReRef)
Posit Offset 1
Posit Offset 2
Posit Offset Spd
X Offst SpdFilt
Position Control
(X Offset Pol)
Position Control
(X Offset Ref)
PositRef EGR Out
Position Cmmd
*
*
Posit Ref Sel
Mtr Posit Fdbk
Position Error
0
Act Motor Posit
*
1
(X Spd LLim)
(X Spd HLim)
0
Logic Ctrl State
(Position En)
∑
768
761
759
760
Reref
758
740 10
0
1
2
742
Gear Rat
[ N ]
[ D ]
745
746
+
Rate Lim
753
754
755
LPass
Filter
756
740 04
740 05
744
+
747
762
769
0
318
775
776
741 02
Position Status
741 03
XReg Spd LoLim
XReg Spd HiLim
Posit Spd Output
to Speed Control
- Regulator [3A2]
Point to Point Position
763
Deriv
Accum
Accum
Deriv
Accum
Accum
from Speed/Posit
Fdbk [10H2]
Limit
157 03
+
-
Deriv
&
740 01
157 03
Logic Cntrl State [7G5]
Speed Out Enable
1
2
3
4
5
6
BA
D
C
FE HG
I
Position Control
ActPosit Rst
*
Position Control
Xzero Preset
740 06 740 08
On the rising edge (activation) of p741 bit 7 [8G5] the
following bit assignments occur:
If p
740 bit 8 is set, then p763, p765, p744, and p747 get
loaded with [Mtr Posit Fdbk (p762) - Abs Posit Offset
(p757)].
If p
740 bit 8 is reset and p740 bit 6 is set, then p763, p765,
p744, and p747 get loaded with Mtr Posit Fdbk (p762).
If p
740 bit 8 is reset and p740 bit 6 is reset, then p763,
p765, p744, and p747 get loaded with the reference value
(prior to reference derivative function [7D2]).
741 4
Position Status
(PtPtRRef Act)
∑
∑
∑
∆
∆
∆
7