1746
1755
1757
1765
Gear Rat
[ N ]
[ D ]
1015
1016
1745
1748
Droop
1763
Position
Actual
Psn Load Actual
u PReg Ki*
PReg Droop
u PReg Kp*
PReg Int Out
Load Psn Fb Mult
Load Psn Fb Div
PReg Vel Out
1750
Position Error
Calib
Const
Calib
Const
+
-
+
-
+
-
Position Fb
+
+
Intgrtr En
Intgrtr Hold
Or
PI Regulator
Inv
6
6
6
1697
Xzero
Preset
17304
Psn Ctrl Options
(Zero Psn)
Zero
Position
1
2
3
4
5
6
BA
D
C
FHEG
I
Psn Feedback Scaling
6
0
1767
Position Regulator
(PReg)
1730
0
Psn Ctrl Options
1
Reserved
Oset ReRef
2
OsetVel En
3
Zero Psn
4
Intgrtr Hold
5
Intgrtr En
6
PsnWtch1Arm
7
PsnWatch1Dir
0
PReg Status
1
2
3
4
Intgrtr Hold
5
6
Oset ReRef
7
8
PsnW1Detect
9
InPsn Detect
10
11
Psn Intgrtr
8
PsnWtch2Arm
9
PsnWatch2Dir
PsnW2Detect
OsetIntgrtr
Psn Reg Actv
Load Psn Fb Sel
1014
Other Position
Feedback
Sources
Parameter
Selection
Fdbk [H4]
PRef 2 [C5]
VRef Vect
[D5]
20
21
22
23
10
Add Spd Ref
1. If Homing function is enabled,
Position Actual (1745) is loaded with
Position Fb (1746) .
2. Else, if Zero Psn (1730 Bit 04) is
set, Position Actual (1745) is loaded
with Position Fb (1746) – Zero
Position [1697).
3. Else, Position Command (1731) and
PRef EGR Out (1686) are loaded with
Position Actual (1745)
*4. EGR is skipped when Point to
Point Position control is active
(included Proler, PLL with PTP)
Parameter initializations
performed with
Position Regulator INACTIVE
1752
Psn Gear Ratio
Motor Speed
Gear Output Spd
()
1732
1754
1756
c PReg Kp*
c PReg Ki*
PRef 2 [H1]
Homing
[H3]
PRef NF Del
System BW
System Damping
906
907
Set (905) System C/U Sel =
User to manually adjust Kp
and Ki gains. Otherwise the
following params determine
Calc gains.
*
AltFb Gn Scale
1010
Load Ratio
901
Load Coupling
902
Psn Reg Lmt
Reserved
Reserved
Reserved
LdPsn Fb Del
LdPsn Geared
PReg LdError
Psn Fb Del
Limit
P Gain
k
p
P Gain
k
p
I Gain
k
i
s
0
1
PReg
Status
1732 8
Intgrtr Hold
On PReg Output Limit
PReg Vel Limit Pos
PReg Vel Limit Neg
1766
1768
1746
Position Fb
Fdbk [H4]
'
'
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
Metering DroopCtrl CurPwrLmt Freq Overview PRef2 Roll Psn VRef Vect Friction Comp Proc 1 22Series IO Digital Invert
PLL DBC CurrCtrl CBI Metering PReg Spindle Ref Move Trq RefCAM Proc 2 22Series IO Digital Motor I2T
PwrLoss VoltRefGen LscCtrlCfg Fdbk Psn PLL VRef Overview VReg Vect Trq Ref AntiSway 11-Series IO Digital High Speed Wizard
LscData VoltCtrl DriveDerating Homing Psn CAM VRef Sel Trq Overview Trq Filt Oil Well 1 22-Series IO Analog
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PReg
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