Interpolator
x
x
x
748
0
1
2
749
743
742
Gear Rat
[ N ]
[ D ]
745
746
PositRef EGR Mul
PositRef EGR Div
+
Rate Lim
753
754
755
LPass
Filter
756
744
747
762
764
P Gain
kp
768
I Gain
ki
s
770
Limit
772
773
774
+
Gear Rat
[ N ]
[ D ]
766
767
Link
763
765
Droop
771
Inv &
Limit
0
318
775
776
Position Actual
Posit Actl Load
PositReg Integ
PositReg Droop
PositReg P Gain
XReg Integ Out
Position Status
XReg Integ LoLim
XReg Integ HiLim
Position Status
CoarsePosit Trgt
Position Control
(Interp Rev)
Xsync Status
(Sync Pulse)
Interp Position
Aux Posit Ref
Posit Offset 1
Posit Offset 2
Posit Offset Spd
X Offst SpdFilt
Position Control
(X Offset Pol)
Position Control
(XOff ReRef)
PositRef EGR Out
Position Cmmd
Position Control - Interp/Direct
(Task 2)
Posit Load Fdbk
Posit FB EGR Mul
Posit FB EGR Div
Position Control
(Integ En)
Position Control
(Integ Hold)
XReg Spd LoLim
XReg Spd HiLim
*
*
*
Posit Ref Sel
Posit Spd Output
769
Position Error
from Speed /Posit
Fdbk [9H3]
to Speed Control
- Regulator [5A2]
See Point-to-Point
Position Control
Diagram page 8
*
&
740 01
157 03
Output Enable
Logic Ctrl State
(position enable )
Logic Ctrl State
(position enable )
1
2
3
4
5
6
BA
D
C
FE HG
I
Notch
II
R
796Posit Gear Ratio
741 2
741 3
1
[15 H 5]
740 02
740 03
157 03
Calib
Const
Calib
Const
741 00
741 01
779
778
[15 H 5]
0
X Notch Attenu
X Notch FiltFreq
740 04
740 05
Motor Speed
Gear Output Spd
()
750
740 13
Coarse Spd Trgt
693 00
786 00
700 00Motn Posit Sync
p786 or p700 must be linked to p 693 for
proper Interpolator operation
752
751
Interp AccelRate
Interp Speed
Interp SyncInput
741 05
Position Status
(XOffReRef Act)
+
+
+
-
+
-
+
-
Position Fdbk
*
Position Control
Xzero Preset
740 08
On the rising edge (activation ) of p741 bit 7 [15H5] the
following bit assignments occur:
1) If p740 bit 8 is set , then p763, p765, p744, and p747 get
loaded with [Position Fdbk (p762) - Abs Posit Offset (p757)].
2) If p740 bit 8 is reset, then p763, p765, p744, and p747 get
loaded with the reference value (prior to reference derivative
function in coordinate [D2]).
757Abs Posit Offset
This point is a delta change. When the position loop is first
enabled the position command and feedback delta are zero.
Δ
Δ
Δ
Δ
Δ
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