ABB ACSM1 - Page 502

Appendix E – Control chain and drive logic diagrams
502
SPEED ERROR
SPEED CONTROL
SPEED REF RAMP
3.01 SPEED REF1
3.02 SPEED REF2
24.05 SPEED REF 1/2 SEL
24.06 SPEED SHARE
24.07 SPEEDREF NEG ENA
1
-1
24.09 CONST SPEED ENA
24.10 SPEED REF JOG1 24.11 SPEED REF JOG2
10.13 FB CW USED
bit 10 JOGGING
06.02 STATUS WORD 2
bit 5 JOGGING
24.08 CONST SPEED
SPEED REF MOD
20.03 POS SPEED ENA
0
20.02 MINIMUM SPEED 20.04 NEG SPEED ENA
0
06.02 STATUS WORD 2
bit 12 RAMP IN 0
Local speed reference
06.01 STATUS WORD 1 bit 11
LOCAL PANEL
46.02 SPEED REF SAFE
SAFE SPEED COMMAND
06.01 STATUS WORD 1
bit 9 LOCAL FB
0
20.01 MAXIMUM SPEED
2.14 FBA MAIN REF1
24.12 SPEED REF MIN ABS
3.07 ACC COMP TORQ
K
p
T
i
T
d
K
p
28.04 DERIVATION TIME
28.05 DERIV FILT TIME
28.02 PROPORT GAIN
28.07 DROOPING RATE
28.08 BAL REFERENCE
28.03 INTEGRATION TIME
3.08 TORQ REF SP CTRL
28.11 MAX TORQ SP CTRL
28.10 MIN TORQ SP CTRL
28.09 SPEEDCTRL BAL EN
+ +
+
d
dt
³
dt
x
28.14 P GAIN ADPT COEF
28.15 I TIME ADPT COEF
28.12 PI ADAPT MAX SPD
28.13 PI ADAPT MIN SPD
1.01 SPEED ACT
F(x)
06.05 LIMIT WORD 1 bit 1 SPD CTL TLIM MIN 06.05 LIMIT WORD 1 bit 2 SPD CTL TLIM MAX 06.05 SPEED CTRL STAT bit 4 BAL ACTIVE
3.06 SPEED ERROR FILT
26.05 SPEED STEP
26.06 SPD ERR FTIME
20.01 MAXIMUM SPEED
20.02 MINIMUM SPEED
T
AccCom
26.08 ACC COMP DER TIME
26.09 ACC COMP FTIME
d
dt
0
06.02 STATUS WORD
2 bit 14 RAMP OUT 0
06.02 STATUS WORD
2 bit 12 RAMP IN 0
+
-
26.10 SPEED WIN FUNC
26.11 SPEED WIN HI
26.12 SPEED WIN LO
4.01 SPEED REF POS
26.04 SPEED FEED PCTRL
22.04 MOTOR GEAR DIV
22.03 MOTOR GEAR MUL
22.02 SPEED ACT FTIME
22.01 SPEED FB SEL
1.14 SPEED ESTIMATED
1.08 ENCODER 1 SPEED
1.10 ENCODER 2 SPEED
1.01 SPEED ACT
OPMODE =
POSITION SYNCRON
x y
03.04 SPEED REF RAMPED
SPEED POSITION SYNCHRON HOMING PROF VEL
6.12 OP
MODE ACK
+
0
Ramp & Shape
03.03 SPEEDREF RAMP IN
25.02 SPEED SCALING
25.03 ACC TIME
25.04 DEC TIME
25.05 SHAPE TIME ACC1
25.06 SHAPE TIME ACC2
25.07 SHAPE TIME DEC1 25.08 SHAPE TIME DEC2
25.10 DEC TIME JOGGING
25.11 EM STOP TIME
25.12 SPEEDREF BAL
25.13 SPEEDREF BAL ENA
25.09 ACC TIME JOGGING
0
06.01 STATUS WORD 1
bit 5 EM STOP
06.02 STATUS WORD 2
bit 5 JOGGING
OR
06.02 STATUS WORD 2
bit 14 RAMP OUT 0
06.02 STATUS WORD 2 bit 13
RAMP HOLD
0
SPEED FEEDBACK
ZERO AI1 AI2 FBA REF1 FBA REF2 D2D REF1 D2D REF2 ENC1 SPEED ENC2 SPEED
24.01 SPEED
REF1 SEL
ZERO AI1 AI2 FBA REF1 FBA REF2 D2D REF1 D2D REF2 ENC1 SPEED ENC2 SPEED
24.02 SPEED
REF2 SEL
Speed control chain