User Manual

356 Rockwell Automation Publication 20P-UM001K-EN-P - July 2014
Appendix D Control Block Diagrams
Current Regulator
Torq ue
Σ
+
-
T
T
Current Regulator
Current Limits
Torque Limit Mtr Gen Torque Limit Pos Neg
From Torque Mode
Selection Block Diagram
Torque Reduction
Command
Predictive Regulator Includes
Anti-Windup Logic
Predictive Regulator
Modulator
DC
Motor
Feedback
(Option)
Go to Motor
Parameters
P41
Current Reg In
P7
Current Limit
P8
Current Lim Pos
P10
Cur Lim Pos Out
P11
Cur Lim Neg Out
P9
Current Lim Neg
To rq ue
Reduction
P13
Torq Red CurLim
P342
Torque Reduction
P715
Torq Limit Type
Rev Brdg Cur Lim Fwd Brdg Cur Lim
Speed
-1% of
Max Feedback Spd
Rev Brdg Cur Lim Fwd Brdg Cur Lim
+1% of
Max Feedback Spd
Torq ue
Speed
Fwd Brdg Cur Lim Fwd Brdg Cur Lim Rev Brdg Cur Lim Rev Brdg Cur Lim
P453
Arm Resistance
P454
P199
Arm Current Pct
P233
Output Voltage
Arm Inductance
P200
Arm Current
(3.3 ms @ 50Hz, 2.7 ms @ 60 Hz)
Note that P453 and P454 are gains for the current regulator and may not match the physical characteristics of the motor.
T Lim MtrGen
T Lim PosNeg
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P1323 DPI P1 Select P1324 DPI P2 Select P1325 DPI P3 Select P1326 DPI P4 Select P1327 DPI P5 Select P782 PID Target P1210 W Target
P782 PID Target P1210 W Target
P12
Current Rate Lim
di dt