ABB ACSM1 - Pos Feedback

Parameters and firmware blocks
219
60
Firmware block:
POS FEEDBACK
(60)
This block
• selects the source for measured
actual position value (encoder 1,
encoder 2 or estimated position)
• selects whether positioning is
executed along linear or rollover
axis
• configures the load encoder gear
function
• selects the unit and scaling for the
position parameters
• selects the integer scaling of a
position value
• defines how many bits are used for
position count within one revolution
• defines the minimum and maximum
position limits
• defines the position threshold
supervision limit
• shows actual position of the
encoder, scaled actual position of
encoder 2 and filtered actual speed
of the load.
Block outputs located in other
parameter groups
1.12 POS ACT (page 92)
1.13 POS 2ND ENC (page 92)
4.02 SPEED ACT LOAD (page 103)
60.01 POS ACT SEL FW block: POS FEEDBACK (see above)
Selects the source for the actual position value.
(0) ENC1 Encoder 1. Inverted gear ratio is considered when the position control
output (speed reference) is produced.
(1) ENC2 Encoder 2. Inverted gear ratio is considered when the position control
output (speed reference) is produced.
(2) Estimated Estimated position. Inverted gear ratio is considered when the position
control output (speed reference) is produced. See also section
Position estimation on page 60.
60.02 POS AXIS MODE FW block: POS FEEDBACK (see above)
Selects the positioning axis.
Note: This parameter cannot be changed while the drive is running.
(0) Linear Linear motion. Positioning is between minimum position 60.14
MINIMUM POS and maximum position 60.13 MAXIMUM POS.
(1) Rollover Rotating motion. Positioning is between 0 and 1 revolutions, ie, after
360°, the position calculation starts from 0° again.
POS FEEDBACK
12
TLF4 500 µsec (2)
60.01 POS ACT SEL
[ ENC1 ]
60.02 POS AXIS MODE
[ Linear ]
60.03 LOAD GEAR MUL
[ 1 ]
60.04 LOAD GEAR DIV
[ 1 ]
60.05 POS UNIT
[ Revolution ]
60.06 FEED CONST NUM
[ 1 ]
60.07 FEED CONST DEN
[ 1 ]
60.08 POS2INT SCALE
[ 1000 ]
60.09 POS RESOLUTION
[ 16 bits ]
60.10 POS SPEED UNIT
[ u/s ]
60.11 POS SPEED2INT
[ 1000 ]
60.12 POS SPEED SCALE
[ 1.0000 ]
60.13 MAXIMUM POS
[ 32768.000 rev ]
60.14 MINIMUM POS
[ - 3 27 68 .0 00 r ev ]
60.15 POS THRESHOLD
[ 0.000 rev ]
1.12 POS ACT
1.13 POS 2ND ENC
4.02 SPEED ACT LOAD