ABB ACSM1 - Position Profile Generator

Drive control and features
53
The equation quite often translates to
Parameters 71.07 GEAR RATIO MUL and 71.08 GEAR RATIO DIV are also inputs
of the firmware block POS CONTROL (see page 222).
Note: It is emphasised that all position relevant parameters are load side related,
e.g. the setting of parameter 70.04 POS SPEED LIM (dynamic limiter speed
limitation) of 300 rpm denotes that, with a load gear ratio of 1:10, the motor can run
at up to 3000 rpm.
Position profile generator
The position profile generator calculates the speed from which the drive can
decelerate to a stop within the target distance using the defined deceleration
reference. The calculated speed is used to generate an optimised position
reference, which guides the drive to its target position.
The following figure shows how the position profile generator generates a position
reference.
The position profile generator is also used to compensate synchronising errors.
Parameters 66.05 POS ENABLE and 65.03 POS START 1 / 65.11 POS START 2
control the operation of the position profile generator. The following figure shows the
=
71.07 GEAR RATIO MUL
71.08 GEAR RATIO DIV
22.03 MOTOR GEAR MUL × 60.04 LOAD GEAR DIV
22.04 MOTOR GEAR DIV × 60.03 LOAD GEAR MUL
IPO
FIR
Pos. reference
Pos. speed
Acceleration
Deceleration
Pos. filtering time
t
t
t
65.06 PROF ACC 1 / 65.14 PROF ACC 2
65.07 PROF DEC 1 / 65.15 PROF DEC 2
4.13 POS REF IPO
4.20 SPEED FEED FWD
Target position reference
Position speed reference