Control chain diagrams

Transcription

1 Control chain diagrams 565 Control chain diagrams What this chapter contains The chapter presents the reference chains of the drive. The control chain diagrams can be used to trace how parameters interact and where parameters have an effect within the drive parameter system. For a more general diagram, see section Operating modes of the drive (page 22).

2 22.77 Motor potentiometer ma value 22.7 Motor potentiometer function Motor potentiometer up source Motor potentiometer down source Motor potentiometer ramp time Motor potentiometer initial value Motor potentiometer min value RAMP 22.5 Speed additive source 22.3 Speed ref function 22.8 Motor potentiometer ref act 22.7 Speed additive 2 source Speed reference source selection I 566 Control chain diagrams 22. Speed ref source 22.2 Speed ref2 source 22.8 Speed reference act Speed reference act 2 ADD SUB MUL MIN MAX Speed reference act Speed reference act Speed reference act Speed reference act Speed share 22.4 Speed ref/2 selection

3 22.86 Speed reference act Constant speed sel Constant speed sel Constant speed sel Constant speed Constant speed Constant speed Constant speed Constant speed Constant speed Constant speed Constant speed Constant speed Constant speed sel Constant speed sel Constant speed sel Jogging 2 start source 22.2 Const speed function bit Direction enable Direction (See group 2 Et& Et2 commands) Constant speed 3 b b b2 BIN TO INT SEL 22.2 Const speed function bit Const speed mode 2.25 Jogging enable 2.26 Jogging start source OUT INT 2 SEL 3 - Jogging 2 Jogging Jogging 2 ref Jogging ref Fieldbus: ODVA CIP Network reference Network control 49.5 Communication loss action = Speed ref safe Panel comm loss active Panel as local control device 5.2 FBA A comm loss func = Speed ref safe Fieldbus comm loss active Control from Fieldbus active 2.3 AI supervision function = Speed ref safe 2.4 AI supervision selection b AI outside supervised limit 6.6 bit 9 3. Panel reference Panel local 22.4 Speed ref safe 6.6 bit 8 Safe speed reference command 22.5 Critical speed function Critical speed low Critical speed high Critical speed 2 low Critical speed 2 high Critical speed 3 low Critical speed 3 high Speed reference act 7 CRITICAL SPEEDS 22. Speed ref unlimited Speed reference source selection II Control chain diagrams 567

4 6. bit 5 Emergency stop Emergency stop time 23.2 Acceleration time 23.4 Acceleration time Deceleration time 23.5 Deceleration time Maimum speed Speed ramp in zero source 6. bit 6 Ramp in zero 22. Speed ref unlimited 3. Minimum speed 23. Ramp set selection 23.2 Acc time jogging 6. bit 4 Ramp out zero 6.. bit 5 Ramp hold 6. bit 6 Ramp in zero 6. bit 8 Inching 6. bit 9 Inching Speed ref ramp input Jogging ref Jogging 2 ref 23.2 Acc time jogging 23.2 Dec time jogging Stop command RAMP Ramp output balancing enable ACC TIME Ramp output balancing ref DEC TIME SHAPE RAMP ACC TIME DEC TIME 23.2 Speed ref ramp output Speed reference ramping and shaping 568 Control chain diagrams 23.2 Dec time jogging 2.25 Jogging enable 2.26 Jogging start source 2.27 Jogging 2 start source Variable slope enable Variable slope rate 46. Speed scaling 23.6 Shape time acc 23.7 Shape time acc Shape time dec 23.9 Shape time dec 2 6. bit 5 Emergency stop 6. bit 4 Ramp out zero Stop command

5 9.4 Motor feedback selection 9.43 Motor gear numerator 9. Encoder speed 9.2 Encoder 2 speed 9.44 Motor gear denominator Speed estimate Speed estimate filter time X Y 9.42 Motor speed filter time 46. Filter time motor speed 2.6 Zero speed limit a.2 Motor speed estimated ab ABS b 2.7 Zero speed delay.5 Encoder 2 speed filtered ABS a ab 46.3 Above speed limit b t. Motor speed used 9. Motor speed for control 6.9 bit Zero speed 6. bit Above limit Motor feedback configuration.4 Encoder speed filtered 46. Filter time motor speed Speed reference 7 act 46.2 At speed hysteresis - ABS a b a b 6. bit 8 At setpoint 9.4 Motor feedback selection Position estimate 9. Encoder position 9.3 Encoder revolution etension 9.2 Encoder 2 position 9.22 Encoder 2 multiturn revolutions 9.23 Encoder 2 revolution etension 9.43 Motor gear numerator 9.2 Encoder multiturn revolutions Encoder Encoder Motor gear denominator X Y 9.2 Motor position Control chain diagrams 569

6 9.5 Load feedback selection 9. Encoder position 9.2 Encoder multiturn revolutions 9.3 Encoder revolution etension 9.2 Encoder 2 position 9.53 Load gear numerator 9.22 Encoder 2 multiturn revolutions 9.23 Encoder 2 revolution etension 9.54 Load gear denominator 9.6 Gear numerator Position estimate Position estimate 9.2 Motor position 9.26 Motor revolution etension 9.62 Gear denominator INITIALIZATION REQUEST 9.67 Pos counter init cmd source 9.68 Disable pos counter initialization 9.69 Reset pos counter init ready Encoder Encoder 2 Motor feedback X Y X Y None Encoder Encoder 2 Position estimate Motor feedback X Y 9.63 Feed constant numerator 9.64 Feed constant denumerator 9.58 Pos counter initial value int 9.59 Pos counter init value int source S X Y INITIALIZED POSITION COUNTER INIT VAL INIT SRC INIT CMD 9.35 bit 4 Position counter initialized 9.7 Load position scaled int Load feedback and position counter configuration 57 Control chain diagrams R 6. Main status word bit 3 Tripped 9.35 bit 5 Pos counter re-init disabled

7 23.42 Follower speed corr torq source Torque prop reference Torque integral reference 23.4 Follower speed correction gain Speed error window high Speed error window low 26.5 Load share 23.4 Follower speed correction enable LOAD SHARE FUNCTION OF SPEED CONTROLLED FOLLOWER 25.6 Acc comp derivation time 25.7 Acc comp filter time Follower speed correction out 6.9 bit 8 Follower speed corr min lim 6.9 bit 9 Follower speed corr ma lim Speed error calculation d dt T AccCom Torque acc compensation 3.2 Maimum speed 24.4 Speed error window control enable Speed error window high Speed error window low 23.2 Speed ref ramp output 24. Speed correction 3. Minimum speed 9. Motor speed for control 24. Used speed reference 24.2 Used speed feedback 24.2 Speed error filter time RFE speed filter 24.4 Frequency of zero 24.5 Damping of zero 24.6 Frequency of pole 24.7 Damping of pole Speed error inverted RFE 24.3 Speed error filtered Control chain diagrams 57

8 25.3 Speed integration time 6.8 bit Em Off 6.8 bit 3 Em Off Proportional gain em stop 25.8 Drooping rate Speed error step 24.3 Speed error filtered Torque acc compensation Speed regulator Speed derivation time 25.5 Derivation filter time 25. Speed ctrl balancing reference PID 6.8 bit Em Off 6.8 bit 3 Em Off Ma torq sp ctrl em stop 25.2 Speed control ma torque Torque reference unbalanced Torque prop reference Torque integral reference Torque deriv reference 25. Torque reference speed control Speed controller 572 Control chain diagrams 25.2 Speed proportional gain Ti coef at min speed 25.9 Speed ctrl balancing enable Stop command Speed adapt min limit 25.9 Speed adapt ma limit bit Em Off 6.8 bit 3 Em Off3 9. Motor speed for control 25.3 Min torq sp ctrl em stop 25.2 Kp adapt coef at min speed Speed control min torque Kp adapt coef at min torque Torque adapt ma limit Torque adapt filt time Torq ref to TC Flu adaption enable.24 Flu actual %

9 26.4 Torque ref/2 selection 26.3 Torque ref function 26. Torque ref source MUL 26.2 Torque ref2 source Ref ADD 26.7 Torque reference act SUB 26.7 Torque reference act 2 MIN MAX 26.5 Load share 26.6 Torque additive source Torque reference act Maimum torque ref Network ref Internal torque lim ma Network control 6.6 bit 9 Fieldbus: ODVA CIP 3. Panel reference Local control 6.6 bit Minimum torque ref Internal torque lim min MIN MAX 26.7 Torque ref filter time 26.9 Torque ramp down time Torque reference act Torque ramp up time Torque ref ramp out Torque reference source selection and modification Control chain diagrams 573

10 9.2 Et control mode 9.4 Et2 control mode 9. Et/Et2 selection Fieldbus: ODVA CIP SPEED 9.6 Local control mode Panel local 6.6 bit 8 Last speed active SPEED 6.7 bit 6 To torque selector 9. Actual operation mode Operating mode selection 574 Control chain diagrams SPEED Safe reference active 6.7 bit 5 SCALAR 99.4 Motor control mode SPEED Safety function active 6. bit 3 Run 6. bit Off control 6. bit 2 Off3 control 6.3 M/F mode = M/F follower or D2D follower 2.2 Follower force ramp stop

11 26.25 Torque additive 2 source 26.5 Oscillation damping Oscillation compensation input Oscillation damping frequency Oscillation damping phase Oscillation damping gain Force torque ref add 2 zero 25. Torque reference speed control Torque ref ramp out 29. Torque ref DC voltage control Torque ref add A actual Oscillation damping 9. Actual operation mode Torque selector ZERO SPEED TQUE MIN MAX ADD VOLTAGE Oscillation damping out enable Oscillation damping output Torque ref add B actual Torque reference act Torque step Torque step enable Torque reference act Maimum speed 3. Minimum speed 9. Motor speed for control Speed limitation 26. Torque reference to TC Reference selection for torque controller Control chain diagrams 575

12 26. Torque reference to TC 3.3 Overvoltage control 3.3 Undervoltage control 3.26 Power motoring limit 3.27 Power generating limit DC voltage limiter Power to torque limits MAX MIN Internal torque lim min Torque limiter Internal torque lim ma Load angle limitation Motor pull-out limitation 3.7 Maimum current Current limiter 3.2 Torque limit status 26.2 Torque reference used 3.2 Torque limit status Bit Name = Undervoltage = Overvoltage 2 = Minimum torque 3 = Maimum torque 4 = Internal current 5 = Load angle 6 = Motor pullout 7 = 8 = Thermal 9 = Ma current = User current = Thermal IGBT 2 = IGBT overtemperature 3 = IGBT overload 4 = 5 = To DTC core Torque limitation 576 Control chain diagrams 3.8 Minimum torque sel 3.9 Minimum torque 3.23 Minimum torque Minimum torque 2 source 3.2 Maimum torque 3.24 Maimum torque Maimum torque 2 source 3.25 Maimum torque sel

13 97.7 User flu reference 26.2 Torq ref used 97.4 Voltage reserve 97.5 Flu braking 97.6 Flu reference select. DC voltage Torque controller DTC motor control mode. Motor torque.24 Flu actual % Torque controller 97. Signal injection 97. TR tuning 9.2 Scalar control reference unit rpm 23.2 Speed ref ramp output Hz 28.2 Frequency ref ramp output 97.3 IR compensation Scalar motor control mode Control chain diagrams 577

14 28.3 Frequency ref function 28. Frequency ref source 28.2 Frequency ref2 source Constant frequency sel Constant frequency sel Constant frequency sel Frequency ref act Constant frequency Constant frequency Constant frequency Constant frequency Constant frequency Constant frequency Constant frequency Frequency ref/2 selection 28.9 Frequency ref act Constant frequency function bit Direction enable b b b2 BIN TO INT SEL Ref Add Sub Mul Min OUT Ma Direction (See group 2 Et& Et2 commands) Frequency ref act3 - Fieldbus: ODVA CIP Network reference Network control 6.6 bit 9 3. Panel reference Local control 6.6 bit Frequency ref safe Frequency ref act7 Frequency reference selection 578 Control chain diagrams Constant frequency Constant frequency Constant frequency Communication loss action = Speed ref safe Panel comm loss active Panel as local control device 5.2 FBA A comm loss func = Speed ref safe Constant frequency sel Constant frequency sel Constant frequency sel3 INT 2 SEL 3 Fieldbus comm loss active Control from Fieldbus active 2.3 AI supervision function = Speed ref safe Safe frequency reference command 28.2 Constant frequency function bit Const freq mode 2.4 AI supervision selection b AI outside supervised limit

15 28.5 Critical frequency function Critical frequency low Critical frequency high Critical frequency 2 low Critical frequency 2 high Critical frequency 3 low Critical frequency 3 high Frequency ref act Freq ramp in zero source 6. bit 6 Ramp in zero CRITICAL FREQ Frequency ref unlimited 3.4 Maimum frequency 3.3 Minimum frequency Freq acceleration time Freq acceleration time 2 6. bit 5 Ramp hold Freq ramp hold Freq ramp out balancing enable Freq ramp output balancing 28. Frequency ref ramp input FREQ REF RAMP ACC TIME Frequency reference modification Freq deceleration time Freq deceleration time 2 DEC TIME 28.7 Freq ramp set selection Emergency stop time 6. bit 5 Emergency stop 6. bit 4 Ramp out zero 28.2 Frequency ref ramp output Control chain diagrams 579

16 29. DC voltage ref source 29.3 DC voltage ref function Ref ADD SUB 29.4 DC voltage ref/2 selection 29.2 DC voltage ref 29. Maimum DC voltage reference 29.3 DC voltage ref used 29.9 DC voltage ramp up speed RAMP DC voltage reference selection 58 Control chain diagrams 29.2 DC voltage ref2 source MUL MIN 29.4 DC voltage ref ramped MAX 29.9 Minimum DC voltage reference 29.8 DC voltage ramp down speed

17 DC capacitance from database Used DC capacitance DC capacitance source 29.4 DC voltage ref ramped Used DC capacitance Used DC capacitance ½ C dc - 2 ½ C dc Used DC capacitance 29.2 DC voltage proportional gain K p 29.2 DC voltage integration time /T i dt 29.7 Power reference Power 9. Motor speed for control Torque Speed/torque limitation curve 29. Torque ref DC voltage control DC voltage reference modification Unfiltered DC voltage 29.6 DC voltage error 29.7 DC voltage filter time 29.5 Filtered DC voltage Speed/ torque data points Control chain diagrams 58

18 4.57 PID set/set2 selection 4.2 Set internal setpoint 4.22 Set internal setpoint Set internal setpoint Set internal setpoint Set internal setpoint sel 4.2 Set internal setpoint sel2 4. Set feedback function 4.8 Set feedback source 4.9 Set feedback 2 source 4.6 Set setpoint source 4.7 Set setpoint 2 source Process PID parameter set Par (shown) Process PID parameter set 2 Par (not shown) Feedback ADD SUB MUL DIV Add MIN MAX Mul AVE a a-b 4.25 Set setpoint selection 4.27 Set setpoint ma 4.8 Set setpoint function 4. Set feedback filter time 4.26 Set setpoint min 4.28 Set setpoint increase time 4.29 Set setpoint decrease time 4.6 Process PID status word: bit 4 PID sleep mode Internal setpoint (see 4.6, 4.7) 4.45 Set sleep boost time In or In2 ADD SUB MUL DIV Add MIN MAX Mul AVE a a-b ab a b Pulse 4.46 Set sleep boost step 4.3 Set setpoint freeze enable RAMP Z Process PID feedback actual 4.3 Process PID setpoint actual Process PID setpoint and feedback source selection 582 Control chain diagrams ab a b Note! Process PID parameter set 2 is also available. See parameter group 4.

19 TRIM FUNCTION PROCESS PID FUNCTION 4.3 Process PID setpoint actual 4.2 Process PID feedback actual 4.52 Set trim selection 3.2 Maimum torque 3.2 Maimum speed 3.4 Maimum frequency 4.54 Set trim mi 4.53 Set trimmed ref pointer (range...) - Scale 4.4 Process PID deviation actual Set output ma 4.55 Set trim adjust 4.5 Set trim mode 4.38 Set output freeze enable 4.39 Set deadband range 4.4 Set deadband delay Off Direct Proportional 4.56 Set trim source 4.3 Process PID setpoint actual PID Combined Comp 4.49 Set tracking mode 4.5 Set tracking ref selection PID output Process PID status 4.5 Process PID trim output act 4.6 Process PID status word Process PID controller 4.3 Set deviation inversion Set setpoint scaling 4.5 Set output scaling 4.32 Set gain 4.33 Set integration time 4.34 Set derivation time 4.35 Set derivation filter time 4.7 Set PID operation mode 4.57 PID set/set2 selection 4.36 Set output min Z Set sleep level 4.44 Set sleep delay 4.47 Set wake-up deviation 4.48 Set wake-up delay 4.42 Set sleep enable 4.4 Set sleep mode Note! Process PID parameter set 2 is also available. See parameter group 4. Sleep Function 4. Process PID output actual Control chain diagrams 583

20 MF link MF link MF link Follower node 2 receive Dataset receive DS44. DS44.2 DS44.3 Follower node 3 receive Dataset receive DS46. DS46.2 DS46.3 Follower node 4 receive Dataset receive DS48. DS48.2 DS Follower node 2 data value Follower node 2 data 2 value 62.3 Follower node 2 data 3 value 62.3 Follower node 3 data value Follower node 3 data 2 value Follower node 3 data 3 value Follower node 4 data value Follower node 4 data 2 value Follower node 4 data 3 value 62.4 Follower node 2 data sel 62.5 Follower node 2 data 2 sel 62.6 Follower node 2 data 3 sel 62.7 Follower node 3 data sel 62.8 Follower node 3 data 2 sel 62.9 Follower node 3 data 3 sel 62. Follower node 4 data sel 62. Follower node 4 data 2 sel 62.2 Follower node 4 data 3 sel Group 6 Master setup config MF link Master/Follower communication I (Master) 584 Control chain diagrams Signal selection for Master s broadcast message 6. M/F data selection 6.25 M/F data value Dataset transmit DS4. MF link 6.2 M/F data 2 selection 6.26 M/F data 2 value DS M/F data 3 selection 6.27 M/F data 3 value DS4.3

21 6.8 M/F comm loss timeout 6.9 M/F com loss function MF link 6. M/F data selection 6.2 M/F data 2 selection 6.3 M/F data 3 selection Follower receive Dataset receive Group 6 DS4. DS4.2 DS4.3 Follower setup config M/F data value M/F data 2 value M/F data 3 value 6.25 M/F data value 6.26 M/F data 2 value 6.27 M/F data 3 value MF link 62. M/F data selection = CW 6 bit Signal selection for Master s read request DS4. DS4.2 DS M/F data 2 selection = Ref 6bit 62.3 M/F data 3 selection = Ref 2 6bit MF link Drive Control logic 6. M/F ref type 46. Speed scaling 46.2 Frequency scaling 46.3 Torque scaling 46.4 Power scaling 6. M/F ref2 type 46. Speed scaling 46.2 Frequency scaling 46.3 Torque scaling 46.4 Power scaling Ref scaling 3.3 M/F or D2D ref Ref2 scaling 3.4 M/F or D2D ref2 Master/Follower communication II (Follower) Control chain diagrams 585