ABB ACSM1 Firmware Manual page 223

71.05 POS CTRL DELAY
Defines the delay for the position reference. The selected number corresponds to the number of the
position control cycles: If parameter value is set to 1, the position reference used in the position error
calculation is the reference value updated during the previous position control cycle.
0...15
71.06 POS ERR LIM
Defines the absolute value for the position error supervision window. The drive trips on fault POSERR
if the position error is exceeded. The supervision is active when position feedback is available.
The unit depends on parameter
supervision is disabled.
0...32768
71.07 GEAR RATIO MUL
Defines the numerator for the gear function between the position control (load side) and speed control
(motor side).
The gear function is formed from the motor gear function and inverted load gear function. The gear
function is applied to the position controller output (speed reference).
71.07 GEAR RATIO MUL
71.08 GEAR RATIO DIV
Note: When motor or load gear functions are set, the gear function must also be set.
31 31
-2 ...2 -1
71.08 GEAR RATIO DIV
Defines the denominator for the gear function between the position control (load side) and speed
control (motor side). See parameter
31
1...2 -1
71.09 FOLLOW ERR WIN
Defines the position window for the following error supervision. The error is defined as the difference
between the reference and actual position. If the error is outside the defined window,
STATUS bit 7 FOLLOW ERR is set to 1 (also
to 1). The supervision is active when position feedback is available.
The unit depends on parameter
0...32768
FW block: POS CONTROL
Delay for position reference.
FW block: POS CONTROL
60.05 POS UNIT selection. If parameter value is set to zero, the
Absolute value for position error supervision window.
FW block: POS CONTROL
Motor speed
=
Load speed
Numerator for gear function.
FW block: POS CONTROL
71.07 GEAR RATIO
Denominator for gear function.
FW block: POS CONTROL
2.13 FBA MAIN SW
60.05 POS UNIT selection.
Position window for error supervision.
(see above)
(see above)
(see above)
(see above)
MUL.
(see above)
bit 18 FOLLOWING ERROR is set
Parameters and firmware blocks
223
6.09 POS CTRL