Position Ctrl - ABB ACSM1 Firmware Manual

Group

71 POSITION CTRL

Settings for the position controller.
The position controller calculates a speed reference that is used to minimise the
difference between position reference and actual values. The user can set the
controller gain, the feed forward value and a cyclical delay between the reference
and the actual value. The output of the position controller has a gear for transferring
position and speed data from the load side to the motor side.
The position controller also supervises the error between the reference position and
actual position in position and synchron control modes. The drive trips on a
POSITION ERROR fault if the limit
71.07 GEAR RATIO NUM
71.03 P CTRL FEED GAIN
4.17 POS REF LIMITED
71.05 POS CTRL DELAY
71.02 POS CTRL GAIN
71.08 GEAR RATIO DEN
d
dt
-x
z
1.01 SPEED ACT
1.12 POS ACT
(71.06 POS ERR
x
+
+
-
LIM) is exceeded.
x
4.20 SPEED FEED FWD
y
x
4.01 SPEED REF POS
y
y
4.02 SPEED ACT LOAD
x
4.19 POS ERROR
Parameters and firmware blocks
221