ABB ACSM1 Manual page 254

254
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
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
POSITION ERROR if the position error is exceeded. The supervision is active when position feedback
is available.
The unit depends on parameter
Note: Position error supervision is not active in profile velocity mode.
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
Note: When motor or load gear functions are set, the gear function must also be set.
See also sections
31
-2
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
1...2
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
to 1). The supervision is active when position feedback is available.
The unit depends on parameter
0...32768
Parameters and firmware blocks
71.08 GEAR RATIO DIV
Motor encoder gear function
31
...2 -1
31
-1
bit 7 FOLLOW ERR is set to 1 (also
FW block: POS CONTROL
Speed feed forward gain.
FW block: POS CONTROL
Delay for position reference.
FW block: POS CONTROL
60.05 POS UNIT selection.
Absolute value for position error supervision window.
FW block: POS CONTROL
Motor speed
=
Load speed
(page 54) and
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)
Load encoder gear function
(see above)
MUL.
(see above)
bit 18 FOLLOWING ERROR is set
(page 61).
6.09 POS CTRL