Pos Control - ABB ACSM1 Firmware Manual

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71
71 POSITION CTRL
Firmware block:

POS CONTROL

(71)
This block
• selects the sources for the actual
and reference position inputs of the
position controller
• defines the position control loop
gain and the speed feed forward
gain
• defines a delay for the position
reference
• configures position error
supervision
• shows the speed reference,
position error and position speed
reference multiplied by the speed
feed forward gain.
Block outputs located in other
parameter groups
71.01 POS ACT IN
Selects the source for the actual position input of the position controller. The default value is P.1.12,
i.e. signal
Value pointer: Group and index.
71.02 POS CTRL REF IN
Selects the source for the position reference input of the position controller. The default value is
P.4.17, i.e. signal
(see page 219).
Note: This parameter has been locked, i.e. no user setting is possible.
Value pointer: Group and index.
71.03 POS CTRL GAIN
Defines the gain for the position control loop. A value of 1 produces a 1 rev/s speed reference when
the position difference between the reference and actual position is 1 revolution.
0...10000 1/s
71.04 P CTRL FEED GAIN
Defines the speed feed forward gain. The default gain value is suitable for most applications. In some
cases the gain can be used to compensate the difference between the reference position and actual
position caused by external disturbances.
0...10
Parameters and firmware blocks
[ POS ACT ]
(11 / 1.12)
POS REF LIMITED
(11 / 4.17)
[ 10.00 1/s ]
[ 1.00 ]
[ 0 ]
[ 32768.000 rev ]
[ 1 ]
[ 1 ]
[ 32768.000 rev ]
4.01 SPEED REF POS
4.19 POS ERROR
4.20 SPEED FEED FWD
FW block:
1.12 POS ACT, which is an output of the
FW block:
4.17 POS REF LIMITED, which is the output of the
FW block:
Gain for position control loop.
FW block:
Speed feed forward gain.
POS CONTROL
TLF4 500 μsec
4.01 SPEED REF POS
4.19 POS ERROR
4.20 SPEED FEED FWD
< 71.01 POS ACT IN
< 71.02 POS CTRL REF IN
71.03 POS CTRL GAIN
71.04 P CTRL FEED GAIN
71.05 POS CTRL DELAY
71.06 POS ERR LIM
71.07 GEAR RATIO MUL
71.08 GEAR RATIO DIV
71.09 FOLLOW ERR WIN
(page 89)
(page 90)
(page 90)
POS CONTROL (see above)
POS FEEDBACK
POS CONTROL (see above)
POS CONTROL (see above)
POS CONTROL (see above)
11
(3)
firmware block (see page 192).
POS REF LIM firmware block