Allen-Bradley 1394 - Page 165

Publication 1394-5.0 — May 2000
Configuring Your 1394 Analog Servo System 8-29
Figure 8.2 1394 Analog Servo Software Diagram (part 2)
FEEDBACK
SCALING
FEEDBACK
ACCUMULATOR
POSITION
FEEDBACK
244
RESOLVR TURNS
216
RESOLVR POSN
156
CCW OVSPD VEL
152
CW OVSPD VEL
OVERSPEED
DETECT
FLT
OVERSPEED
Id GENERATION
172
Id RPM START
176
Id RPM END
180
Id SLOPE
236
Id CUR REF
FEEDBACK FILTER
144
LD/LG DEGREES
148
LD/LG FREQ
140
VEL LOWPAS BW
224
VEL FEEDBACK
D/A 2 GAIN
D/A 2 VALUE
13
+/- 10v
(10V = 128)
X
+
+
11
Velocity Feedback
Velocity Feedback (filtered)
V
t
AUTOTUNE CUR
AUTOTUNE VEL LIM
288
284
AUTO TUNE
IDLE
SYSTEM TUNE
CALCULATE
300
AUTOTUNE FRICTION
FRICTION COMP
0
1
2
296
AUTOTUNE SELECT
0
1
2
3
256
VEL DAMP SELECT
0.87
1.00
0.70
1.40
296
AUTOTUNE
SELECT
(CALCULATE)
AUTO GAIN CHANGE
304
252 108
DESIRED
VEL BW
BW MAX MOTOR
INERTIA
(mSEC)
Wa
(140)
Ki
(372)
Kp
(368)
RATELIM
(192)
AUTOTUNE INERTIA
292
DAMPING FACTOR SELECTOR
ZETA