Position control program / +N5700
Load deviceFirmware (
APCFx)
Application program
(APCAP)
Torque control
Feedback
Parameter interface Parameter interface
Application logic Position control logic
Position reference
Actual speed
Actual position
Position control
Motor
Encoder
Position
Library
Function block
(APCAL)
Profile
generator
Speed control
Virtual
master
Sync logic
D2D
Master reference
Fieldbus
External
encoder
PI control
The firmware program performs the main control functions, including position,
speed and torque control, drive logic (start/stop), I/O, feedback, communication
and protection functions. Firmware functions are configured and programmed
with parameters. The application program calculates position profiles for
movements and sends a reference to position control in the firmware for execution.
￭
Programming via parameters
Parameters configure all of the standard drive operations and can be set through
• the control panel, as described in chapter Using the control panel
• the Drive Composer PC tool, as described in
Drive Composer start-up and
maintenance PC tool user’s manual
(3AUA0000094606 [English]), or
• the fieldbus interface, as described in chapters Fieldbus control through the
embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus
adapter.
All parameter settings are stored automatically to the permanent memory of the
drive. However, if an external +24 V DC power supply is used for the drive control
unit, it is highly recommended to force a save by using parameter 96.7 before
powering down the control unit after any parameter changes have been made.
If necessary, the default parameter values can be restored by parameter 96.6.
￭
Adaptive programming
Conventionally, the user can control the operation of the drive by parameters.
However, the standard parameters have a fixed set of choices or a setting range.
To further customize the operation of the drive, an adaptive program can be
constructed out of a set of function blocks.
62 Program features
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