控制链图 331

控制链图
本章内容
本章介绍了传动的给定链。基本图表，请参见 控制地和工作模式 (17 页 ) 部分。
 22.77 Motor potentiometer max value Value
332 控制链图

22.71 Motor potentiometer function Value RAMP

22.73 Motor potentiometer up source Selection

Value 22.80 Motor potentiometer ref actual
速度给定源选择 I

22.74 Motor potentiometer down source Selection

22.75 Motor potentiometer ramp time Value

22.72 Motor potentiometer initial value Value

22.76 Motor potentiometer min value Value

22.15 Additive speed ref1 Selection Value 22.17 Additive speed ref2 Selection Value

22.13 Speed ref1 function Selection

22.81 Speed reference 1 act ADD

Selection Value
22.84 Speed reference 4 act 22.86 Speed reference 6 act
22.11 Speed ref1 selection SUB
+ Value + Value
MUL Value x Value

MIN
22.83 Speed reference 3 act 22.85 Speed reference 5 act
MAX
22.82 Speed reference 2 act
22.12 Speed ref2 selection Selection Value

22.16 Speed share Value

22.14 Speed ref1/2 selection Selection

 22.86 Speed ref 6 act Value

Value
b0
22.22 Constant speed sel 1 Selection BIN
b1 TO 0
22.23 Constant speed sel 2 Selection
INT OUT
b2 SEL
22.24 Constant speed sel 3 Selection 22.87 Speed reference 7 act
22.26 Constant speed 1 Value 0 Value Value
22.43 Jogging 2 ref
速度给定源选择 II

1
22.27 Constant speed 2 Value 2
3
22.28 Constant speed 3 Value
4
22.29 Constant speed 4 Value 22.42 Jogging 1 ref Value
5
22.30 Constant speed 5 Value 6
7
22.31 Constant speed 6 Value
Fieldbus: Network reference Value
22.32 Constant speed 7 Value
ODVA CIP™ Network control 06.16 bit 9

0 0
1 03.01 Panel reference 1 Value
22.26 Constant speed 1 Value
Panel local 06.16 bit 8
2
22.27 Constant speed 2 Value
3 49.05 Communication loss action =
22.28 Constant speed 3 Value 22.41 Speed ref safe Value
Speed ref safe
Panel comm loss active AND Speed ref safe command CRITICAL
1
OR SPEEDS 22.01 Speed ref unlimited
22.22 Constant speed sel 1 Value
Panel as local control device
INT Value
22.23 Constant speed sel 2 Value 2
SEL 50.02 FBA A comm loss func = 22.51 Critical speed function Selection
22.24 Constant speed sel 3 Value 3 Speed ref safe
22.52 Critical speed1 low Value
Fieldbus comm loss active AND
22.53 Critical speed1 high Value
22.21 Const speed function Selection Control from Fieldbus active
22.54 Critical speed2 low Value

Value 22.55 Critical speed2 high Value

20.27 Jogging 2 start
20.25 Jogging enable Value AND Jogging 2 22.56 Critical speed3 low Value

22.57 Critical speed3 high Value

Jogging 1
AND
20.26 Jogging1 start
控制链图 333
 06.01 bit 4 Ramp out zero Value
30.12 Maximum speed Value

06.01. bit 5 Ramp hold Value AND

AND
23.24 Ramp input zero 06.01 bit 6 Ramp in zero Value
334 控制链图

Selection Value
OR OR
06.01 bit 6 Ramp in zero Value 06.01 bit 8 Inching 1 Value

06.01 bit 9 Inching 2 Value

AND RAMP
22.01 Speed ref unlimited Value
Value 23.01 Speed ref ramp in
0
速度给定斜坡和曲线

22.42 Jogging 1 ref Value

23.02 Speed ref ramp out
22.43 Jogging 2 ref Value
30.11 Minimum speed Value Value

06.11 bit 5 Emergency stop Value 23.20 Acc time jogging Value ACC TIME

23.23 Emergency stop time Value 23.21 Dec time jogging Value DEC TIME

23.11 Ramp set selection Selection Value Stop command

AND
RAMP 23.26 Ramp output balance enable Selection
23.12 Acceleration time1 Value
ACC TIME Value
Value
23.27 Ramp output balance ref
23.14 Acceleration time2

23.13 Deceleration time1 Value

DEC TIME
23.15 Deceleration time2 Value

23.20 Acc time jogging Value SHAPE

23.21 Dec time jogging Value

23.16 Shape time acc1 Value

20.25 Jogging enable 0
23.17 Shape time acc2 Value
AND
20.26 Jogging 1 start
23.18 Shape time dec1 Value
OR
20.27 Jogging 2 start 23.19 Shape time dec2 Value
23.28 Variable slope enable Value

Value
06.11 bit 5 Emergency stop Value
23.29 Variable slope rate
46.01 Speed scaling Value

06.01 bit 4 Ramp out zero Value

AND
Stop command
 90.42 Motor speed filter time Value 46.11 Filter time motor speed Value

90.41 Motor feedback selection Selection

90.43 Motor gear numerator Value

Value 01.01 Motor speed used
电机反馈配置

90.10 Encoder 1 speed Value X

90.20 Encoder 2 speed Value Value
Y 90.01 Motor speed for control

90.44 Motor gear denominator Value

21.06 Zero speed limit Value a 06.19 bit 0 Zero speed

Speed estimate 01.02 Motor speed estimated a>b t Value

ABS b

21.07 Zero speed delay Value

01.04 Encoder 2 speed filtered

46.31 Above speed limit Value a 06.11 bit 10 Above limit
a>b Value
ABS b
01.03 Encoder 1 speed filtered

46.21 Speed setpoint hysteresis

46.11 Filter time motor speed Value Value a 06.11 bit 8 At setpoint
a>b Value

- ABS b
22.87 Speed reference 7 act Value

90.43 Motor gear numerator Value

90.41 Motor feedback selection Selection

90.11 Encoder 1 position Value

+
90.12 Encoder 1 multiturn revolutions Value
X 90.02 Motor position
90.21 Encoder 2 position Value Y
+
90.22 Encoder 2 multiturn revolutions Value

90.44 Motor gear denominator Value

控制链图 335
 336 控制链图

速度误差计算

25.06 Acc comp derivation time Value

25.07 Acc comp filter time Value

d TAccCom Value 25.56 Torq acc comp

dt

24.41 Speed error window control enable Value

24.43 Speed error window high Value

24.44 Speed error window low Value

-1
x Value 24.04 Speed error negative

23.02 Speed ref ramp out Value 24.03 Speed error filtered
+ 24.01 Speed ref used Value
24.11 Speed correction Value - Value

90.01 Motor speed for control Value 24.02 Used actual speed Value

24.12 Speed error filter time Value

 速度控制器

25.12 Max torque speed control Value

25.10 Speed ctrl balance reference Value

Speed regulator
x -
25.08 Drooping rate Value PID

24.46 Speed error step Value 25.01 Torque reference speed control
+ Value 25.57 Torque reference unbalanced
Value
24.03 Speed error filtered Value + Value 25.53 Torque prop reference
Value 25.54 Torque integ reference
25.02 Proportional gain Value Value 25.55 Torque der reference
25.03 Integration time Value Value 25.56 Torque acc compensation
25.04 Derivation time Value

25.05 Derivation filter time Value

25.15 Proportional gain em stop Value

25.09 Speed ctrl balance enable Selection

AND
Stop command

25.11 Min torque speed control Value

控制链图 337
 26.09 Maximum torque ref Value
MIN
338 控制链图

Internal torque lim max Value

Value 26.72 Torque ref 3 actual

26.14 Torq ref1/2 selection Selection

26.13 Torq ref1 function Value 26.73 Torque ref 4 actual

Value

Ref 1
26.18 Torq ramp up time
06.16 bit 9
转矩给定源选择和修正

Network control
26.11 Torq ref1 selection ADD Value
Selection 26.70 Torque ref 1 actual SUB
Value
MUL
26.12 Torq ref2 selection
MIN
x +
Selection 26.71 Torque ref 2 actual
Value MAX 26.74 Torque ref ramp out
Value
Fieldbus:
ODVA CIP™
26.15 Load share Value Network ref
Value

26.16 Torque additive 1 source Selection Value

03.01 Panel reference 1
Value

Local control 06.16 bit 8

26.08 Minimum torque ref Value

MAX
Internal torque lim min Value

26.17 Torque ref filter time Value

26.19 Torque ramp down time Value

19.12 Ext1 control mode1
Selection Value

19.14 Ext2 control mode1

Selection Value

19.11 Ext1/Ext2 sel Selection

To torque selector
Fieldbus: SPEED
Value 19.01 Actual operation mode
转矩控制器给定选择 I

ODVA CIP™ Selection

19.16 Local control mode Value

Panel local 06.16 bit 8

SPEED

Last speed active 06.17 bit 6

SPEED

Safe reference active 06.17 bit 5

SCALAR

99.04 Motor ctrl mode Value

SPEED

Safety function active Value

SPEED

6.01 bit 0 Off1 control Value

AND
6.01 bit 2 Off3 control Value
OR
21.05 Emergency stop source (I/O) Value
控制链图 339
 340 控制链图

26.26 Force torque ref add 2 zero

Selection Value
转矩控制器给定选择 II

26.25 Torque additive 2 source

Selection Value 26.77 Torq ref add A actual
Value 26.78 Torq ref add B actual
0
Speed
limitation
26.01 Torq ref to TC
+ Value 26.76 Torque ref6 actual
Torque selector + Value

ZERO
0 SPEED
25.01 Torq reference speed control Value Value
TORQUE 26.41 Torque step

MIN 0
MAX
Value 26.75 Torque ref5 actual
26.74 Torque ref ramp out Value ADD
26.42 Torque step enable Selection

01.01 Motor speed used Value

30.12 Maximum speed Value

30.11 Minimum speed Value

19.01 Actual operation mode Value
 转矩限值

30.02 Torque limit status

DC voltage Load angle Motor pull-out
limiter Power limiter Torque limiter limitation limitation Current limiter
To DTC core
26.01 Torq ref to TC Value 26.02 Torq ref used
Value

30.30 Overvoltage control Value 30.02 Torque limit status

Bit Name
30.31 Undervoltage control Value
0 = Undervoltage
1 = Overvoltage
90.01 Motor speed for control Value
2 = Minimum torque
3 = Maximum torque
30.26 Power motoring limit Value
4 = Internal current
5 = Load angle
30.27 Power generating limit Value 6 = Motor pull-out
7=
8 = Thermal
30.19 Minimum torque Value
30.17 Maximum current Value 9 = SOA current
10 = User current
30.20 Maximum torque Value
11 = Thermal IGBT
12 =
13 =
14 =
15 =
控制链图 341
 Torque controller

DC voltage actual
342 控制链图

转矩控制器

26.02 Torq ref used 1.10 Motor torque %

DTC motor
control
mode
97.04 Voltage reserve Selection

97.05 Flux braking Selection

97.06 Flux reference select Selection

1.24 Flux actual %
97.07 User flux reference Selection

97.10 Signal injection Selection

97.11 TR tuning Selection

Scalar
19.20 Scalar control reference unit Selection
motor
control
23.02 Speed ref ramp out Value rpm
mode
Hz

28.02 Frequency ref ramped Value

97.13 IR compensation Selection

 28.13 Frequency ref1 function Value

28.11 Frequency ref1 selection Ref 1

Selection 28.90 Frequency ref1 act Add

Value Sub
频率给定选择

Mul
28.92 Frequency ref3 act
Min
Value
Max

28.12 Frequency ref2 selection 28.96 Frequency ref7 act

Selection 28.91 Frequency ref2 act Value

Value
28.14 Freq ref1/2 selection Selection

b0 Constant frequency ref

28.22 Constant frequency sel 1 Selection BIN
b1 TO Constant frequency command
28.23 Constant frequency sel 2 Selection 0
INT
b2 SEL OUT
28.24 Constant frequency sel 3 Selection

Network reference
Value 0
Fieldbus:
28.26 Constant frequency 1
1 ODVA CIP™ Network control 06.16 bit 9
28.27 Constant frequency 2 Value 2
3
28.28 Constant frequency 3 Value 03.01 Panel reference 1 Value
4
28.29 Constant frequency 4 Value
Local control 06.16 bit 8
5
28.30 Constant frequency 5 Value 6
7
28.31 Constant frequency 6 Value
28.41 Failure frequency ref Value
28.32 Constant frequency 7 Value

0 0
1
28.26 Constant frequency 1 Value
2
28.27 Constant frequency 2 Value
3
49.05 Communication loss action = Speed ref safe
28.28 Constant frequency 3 Value
Panel comm loss active AND
OR
Panel as local control device Frequency reference safe command
28.22 Constant frequency sel 1 Value 1
INT
28.23 Constant frequency sel 2 Value 2 50.02 FBA A comm loss func = Speed ref safe
SEL
28.24 Constant frequency sel 3 Value 3 AND
Fieldbus comm loss active
Control from Fieldbus active
28.21 Constant frequency function Selection
控制链图 343
 344 控制链图

28.76 Ramp in zero Selection Value

频率给定修正

OR
06.01 bit 6 Ramp in zero Value

28.51 Critical frequency function Selection CRITICAL

FREQ 06.01 bit 5 Ramp hold
28.52 Critical frequency 1 low Value
Value RAMP
28.53 Critical frequency 1 high Value
OR
28.77 Ramp hold Value
28.54 Critical frequency 2 low Value
30.14 Maximum frequency Value
28.55 Critical frequency 2 high Value 28.79 Ramp output balance ena Value

28.56 Critical frequency 3 low Value 28.78 Ramp output balance Value

28.57 Critical frequency 3 high Value

28.96 Frequency ref7 act Value 28.97 Freq ref unlimited

28.01 Frequency ref ramp in
Value 0
Value

30.13 Minimum frequency Value 28.72 Acceleration time1 Value

28.74 Acceleration time2 Value

28.73 Deceleration time1 Value

28.75 Deceleration time2 Value

28.02 Frequency ref ramped

28.71 Ramp set selection Selection
0 Value

06.01 bit 4 Ramp out zero Selection Value

 40.27 Setpoint max Value

40.18 Setpoint function Value

Setpoint 1 / 2

ADD 40.30 Setpoint freeze enable

SUB Selection

MUL
40.16 Setpoint 1 source DIV RAMP
Add
40.21 Internal setpoint 1 Value Selection Value
MIN
40.03 Setpoint actual value
40.22 Internal setpoint 2 Value MAX
Mul
Value
40.23 Internal setpoint 3 Value AVE
+
40.17 Setpoint 2 source
40.24 Internal setpoint 4 Value a
Selection Value
Z-1
a-b
40.19 Internal setpoint selection 1 Selection
40.25 Setpoint selection Selection
a+b
40.20 Internal setpoint selection 2 Selection
a+ b

Value
过程 PID 设定点和反馈源选择

40.26 Setpoint min

40.28 Setpoint increase time Value

40.29 Setpoint decrease time Value

40.06 PID status word: bit 4 PID sleep mode Value Pulse
40.45 Sleep boost time Value 0
40.10 Feedback function Selection

40.46 Sleep boost step Value

Feedback 1

ADD

SUB
40.08 Feedback 1 source
MUL 40.11 Feedback filter time Value
Selection Value
DIV
Add

MIN
Value 40.02 Feedback actual value
40.09 Feedback 2 source MAX
Mul
Selection Value AVE

a-b

a+b

a+ b
Note! Process PID parameter set 2 is also available. See parameter group 41.
控制链图 345
 40.55 Trim adjust Value
40.52 Trim selection Selection
TRIM FUNCTION 40.51 Trim mode Selection

30.20 Maximum torque 1 Value Off 0

Direct
30.12 Maximum speed Value
30.14 Maximum frequency Value Proportional x
346 控制链图

Combined
40.54 Trim mix Value
x +
(range 0...1)

1 40.56 Correction source Selection

过程 PID 控制器

- 40.05 Trim output actual value

x
40.03 Setpoint actual value Value Value
x
40.53 Trimmed ref pointer Selection Value

PROCESS PID FUNCTION 40.38 Output freeze enable Selection Value

Comp Process
40.39 Dead band range Value
PID
40.40 Dead band delay Value 40.06 PID status word
status
Value

40.37 Output max Value

40.49 Tracking mode Selection

40.04 Deviation actual value Value

40.50 Tracking ref selection
PID
Value

40.03 Setpoint actual value Value Scale

PID output
- x Value
40.02 Feedback actual value Value

40.31 Deviation inversion 40.32 Gain Value 40.01 Process PID actual value
Selection Z-1
40.33 Integration time Value
Sleep
1 40.34 Derivation time Value Value
40.43 Sleep level Function
-1 40.35 Derivation filter time Value
40.44 Sleep delay Value
40.07 PID operation mode Value
40.47 Wake-up deviation Value
40.57 Sel between set1 set2 Value

40.48 Wake-up delay Value

40.14 Setpoint base Value
40.36 Output min Value

40.15 Output base Value

40.42 Sleep enable Selection Value

40.41 Sleep mode Selection Value

Note! Process PID parameter set 2 is also available. See parameter group 41.
 Follower node 2 receive

Dataset
Master MF link
receive
setup
config
DS44.1 62.28 Follower node 2 received data 1 Selection 62.04 Follower node 2 data in 1 Group 60
MF link
DS44.2 62.29 Follower node 2 received data 2 Selection 62.05 Follower node 2 data in 2

DS44.3 62.30 Follower node 2 received data 3 Selection 62.06 Follower node 2 data in 3

Follower node 3 receive

Dataset
receive
主 / 从机通讯 I ( 主机 )

DS46.1 62.31 Follower node 3 received data 1 Selection 62.07 Follower node 3 data in 1
MF link
DS46.2 62.32 Follower node 3 received data 2 Selection 62.08 Follower node 3 data in 2

DS46.3 62.33 Follower node 3 received data 3 Selection 62.09 Follower node 3 data in 3

Follower node 4 receive

Dataset
receive

DS48.1 62.34 Follower node 4 received data 1 Selection 62.10 Follower node 4 data in 1
MF link
DS48.2 62.35 Follower node 4 received data 2 Selection 62.11 Follower node 4 data in 2

DS48.3 62.36 Follower node 4 received data 3 Selection 62.12 Follower node 4 data in 3

Signal selection for Master’s broadcast message

Dataset
transmit
61.01 MF/D2D data out 1 Selection 61.25 MF/D2D data 1 to transmit DS41.1 MF link

61.02 MF/D2D data out 2 Selection 61.26 MF/D2D data 2 to transmit DS41.2

61.03 MF/D2D data out 3 Selection 61.27 MF/D2D data 3 to transmit DS41.3
控制链图 347
 348 控制链图

Follower MF link
setup
config
Group 60
主 / 从机通讯 II( 从机 )

Follower receive 60.10 MF ref1 type

Selection
Dataset Drive
60.08 MF comm loss timeout receive Ref1 scaling
Control 46.01 Speed scaling
60.09 MF com loss ctrl 62.01 MF/D2D data in 1 = CW 16 bit logic 46.02 Frequency scaling
DS41.1 62.25 MF/D2D received data 1 Selection
46.03 Torque scaling
MF link x
62.02 MF/D2D data in 2 = Ref 1 16bit 46.04 Power scaling
DS41.2 Selection
3.13 MF or D2D ref1
62.26 MF/D2D received data 2
60.11 MF ref2 type
62.03 MF/D2D data in 3 = Ref 2 16bit Selection
DS41.3 62.27 MF/D2D received data 3 Selection
46.01 Speed scaling Ref2 scaling
46.02 Frequency scaling
46.03 Torque scaling
x
46.04 Power scaling
3.14 MF or D2D ref2

Signal selection for Master’s read request

61.01 MF/D2D data out 1 Selection 61.25 MF/D2D data 1 to transmit DS4x.1 MF link

61.02 MF/D2D data out 2 Selection 61.26 MF/D2D data 2 to transmit DS4x.2

61.03 MF/D2D data out 3 Selection 61.27 MF/D2D data 3 to transmit DS4x.3
更多信息
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3AXD50000009105 版本 A 中文 生效日期：2013-09-01 基于：3AUA0000085967 版本 E