Allen-Bradley 1336 FORCE - 36 T Firmware Function (Motor Control Board Overview)

Appendix A
A–34
36T Firmware Function (Motor Control Board Overview)
PROCESS
TRIM
VELOCITY
REFERENCE
CONTROL
L
B
TRIM
CONTROL
LC
V
R
Tq
DRIVE
LOGIC
CONTROL
VELOCITY
PI
REGULATOR
GAINS
LC
VELOCITY
LOOP
AUTOTUNE
3 LOGIC COMMANDS
2 JOGS
2 LOGIC STATUS WORDS
FLUX INHIBIT, RUN INHIBIT COND.
Tpt
TORQUE TRIM
T
L
T
H
P
I
TORQUE LIMIT
VELOCITY
FEEDBACK
CONTROL
Q
S
V
F
φ
f
Tq
TORQUE COMMAND
Sheet Connection Symbols
B
VELOCITY RAMP OUTPUT
C
CURRENT PROCESSOR COMMAND
I f
FILTERED Iq REFERENCE
Iq
VELOCITY TRIM
Iq REFERENCE
LC
LOGIC CONTROL WORD
M
ACTIVE TORQUE MODE
VELOCITY PI REGULATOR OUTPUT
Q
S
FILTERED Iq REFERENCE
T
L
TORQUE LIMIT LOW
TORQUE LIMIT HIGH
TORQUE COMMAND
VELOCITY FEEDBACK
φ
f
P
I
T
H
Tq
VELOCITY REFERENCE
TORQUE TRIM
V
R
Tpt
5 PRESETS
2 JOGS
2 EXTERNAL
VELOCITY
REFERENCES
ENCODERLESS
V
F
V
T