Parameters and firmware blocks
111
Group
Speed error is determined by comparing the speed reference and speed feedback.
The error can be filtered using a first-order low-pass filter if the feedback and
reference have disturbances. In addition, a torque boost can be applied to
compensate acceleration; the torque is relative to the rate of change (derivative) in
the speed reference and inertia of the load.
26.05 SPEED STEP
26.06 SPD ERR FTIME
20.01 MAXIMUM SPEED
20.02 MINIMUM SPEED
T
AccCom
26.08 ACC COMP DER TIME
26.09 ACC COMP FTIME
d
dt
0
06.02 STATUS WORD 2 bit 14
RAMP OUT 0
06.02 STATUS WORD 2 bit 12
RAMP IN 0
+
-
26.10 SPEED WIN FUNC
26.11 SPEED WIN HI
26.12 SPEED WIN LO
4.01 SPEED REF PCTRL
26.04 SPEED FEED PCTRL
1.01 SPEED ACT NCTRL
OPMODE =
POSITION SYNCRON
03.04 SPEED REF NCTRL
SPEED
POSITION
SYNCHRON
HOMING
PROF VEL
6.12 OP
MODE ACK
+
3.06 SPEED ERROR FILT
3.07 ACC COMP TORQ
Summary of Contents for ACSM1 Series
Page 1: ...ACSM1 Firmware Manual ACSM1 Speed and Torque Control Program...
Page 2: ......
Page 4: ......
Page 12: ...Table of contents 12...
Page 49: ...Drive control and features 49...
Page 282: ...Standard function blocks 282...
Page 306: ...Application program template 306...
Page 312: ...Control chain block diagrams 312...
Page 331: ...331...
Page 332: ...332...
Page 333: ......