Allen-Bradley 1336 FORCE - Torque Block Overview

Appendix A
A–44
36T Firmware Function (Torque Block Overview)
SYNCHRONOUS
TO
STATIONARY
TRANSFORMATION
CURRENT COMMAND CONDITIONING
FROM
TORQUE
REF.
168
Iq
172 
MAX MOTOR
CURRENT
RANGE
172

MIN = –8192
MAX = 3072
MIN = 0
DRIVE
ENABLE
(lq)
RATED FLUX (Id)
238
LIMITER
4096^2–[238]^2
4096
MAX = 8192
DRIVE
ENABLE
LIMITER
Iq_CMD
Id_
CMD
MOTOR
POLES
233
THETA e
THETA
s
2
HARDWARE
COUNTERS
1024
[235]
[233]
4
*
ENCODER
PPR
235
COUNTER 2
COUNTER 1
CHAN A
CHAN B
DIGITAL
ENCODER
Iq_CMD
1024
+
+
SLIP
REGULATOR
D
DT
+
+
THETA r
KSLIP
DELTA_COUNTS
fs(fslip)
fe
(eletrical or stator freq)
(rotor)
4
1
4
1
R
8192
R
ENCODER FEEDBACK CONDITIONING
+
–
fr