ABB ACSM1 - Page 504

Appendix E – Control chain and drive logic diagrams
504
POS REF LIM
60.04 LOAD GEAR DEN
60.03 LOAD GEAR NUM
1.09 ENCODER 1 POSITION 1.11 ENCODER 2 POSITION
60.01 POS ACT SEL
60.06 FEED CONST NUM
60.07 FEED CONST DEN
1.13 POS 2ND ENC
X
x
y
x
y
1.12 POS ACT
POS FEEDBACK
65.04 POS REF 1 SEL
65.19 POS REF 1 65.20 POS REF 2
65.12 POS REF 2 SEL
65.19 POS REF 1 65.20 POS REF 2
65.02 PROF SET SEL
65.23 PROF VEL REF1
6.12 OP MODE ACK
65.03 POS START 1
65.05 POS SPEED 1
65.06 PROF ACC 1 65.07 PROF DEC 1
65.08 PROF FILT TIME 1
65.09 POS STYLE 1
65.10 POS END SPEED 1
65.11 POS START 2
65.13 POS SPEED 2
65.14 PROF ACC 2 65.15 PROF DEC 2
65.16 PROF FILT TIME 2
65.17 POS STYLE 2
65.18 POS END SPEED 2
OR
65.24 POS START MODE
10.13 FB CW USED
Bit 25 POS START
10.13 FB CW USED
B24 CHG SET IMMED
2.15 FBA MAIN REF2
(Fieldbus set speed)
PLC block set
2.14 FBA MAIN REF1 (Fieldbus set position)
PLC block set
Pos ref local
06.01 STATUS WORD 1
Bit 11 LOCAL PANEL
ZERO AI1 AI2 FBA REF1 FBA REF2 D2D REF1 D2D REF2 POS REF1 POS REF2
65.21 POS REF
ADD SEL
REF TABLE BLOCK FIELDBUS
65.01 POS
REFSOURCE
ZERO AI1 AI2 FB REF1 FB REF2 D2D REF1 D2D REF2 POS REF 1 POS REF 2
+
REF TABLE BLOCK FIELDBUS
65.01 POS
REFSOURCE
ZERO AI1 AI2 FBA REF1 FBA REF2 D2D REF1 D2D REF2 POS VEL REF
65.22 PROF
VEL REF SEL
PROFILE REF SEL
REFERENCE TRIGGERING LOGIC PROF ACC PROF DEC PROF FILT TIME
POS REF POS START POS STYLE POS END SPEED POS SPEED
PROFILE GENERATOR
4.07 POS SPEED
4.08 PROF ACC 4.09 PROF DEC
+
4.12 POS END SPEED
66.02 PROF SPEED MUL
66.03 PROF ACC WEAK SP
4.14 DIST TGT
x
4.10 PROF FILT TIME
0
OR
6.09 POS CTRL STATUS
Bit 3 POS ENABLED
66.05 POS ENABLE
4.11 POS STYLE
IPO
4.06 POS REF
FIR
4.18 SYNC ERROR
71.05 POS CTRL DELAY
71.0 P CTRL FEED GAIN
4.20 SPEED FEED FWD
71.08 GEAR RATIO DEN
71.07 GEAR RATIO NUM
z
-x
x
y
4.02 SPEED ACT LOAD
1.01 SPEED ACT
x
4.19 POS ERROR
71.02 POS CTRL GAIN
-
d
dt
4.17 POS REF LIMITED
+
+
x
y
x
y
4.01 SPEED REF POS
POS CONTROL
70.07 SYNC ERR LIM
FLT 42 POSITION ERROR SYNC
ABS
a
b
a>b a=b a<b
Dynamic Limiter
70.06 POS DECEL LIM
70.05 POS ACCEL LIM
70.04 POS SPEED LIM
70.03 POS REF ENA
³
dt
³
dt
0
+
d
dt
d
dt
+
MAX
20.01 MAXIMUM SPEED
20.02 MINIMUM SPEED
MIN
70.04 POS SPEED LIM NEG
4.13 POS REF IPO
4.16 SYNC REF GEARED
68.04 SYNC GEAR ADD 68.02 SYNC GEAR MUL
68.03 SYNC GEAR DIV
68.05 SYNC REF FTIME
68.06 SYNCFILT DLY LIM 68.07 SYNCHRON MODE
67.03 INTERPOLAT MODE
67.04 INTERPOLAT CYCLE
F(x)
ZERO AI1 AI2 FBA REF1 FBA REF2 D2D REF1 D2D REF2 Reserved POS 2ND ENC VIRT MAST
67.01 SYNC
REF SEL
d
dt
³
dt
x
x
y
4.15 SYNC REF UNGEAR
SYNC REF MOD
4.21 SYNC REF IN
Position control chain