Drive Application Software Application Set Application Set Title Virtual Encoder Position Master with SL Drive Product PowerFlex 700S File Name for (AS) AS_PF700S_VirtEncdr_PositMaster_SL.doc Date - Revision 6/11/03 01 Attention: This document and related file(s) are designed to supplement configuration of the listed drive product. The information provided does not replace the drive products user manual and is intended for qualified personnel only. Description: The speed loop, position loop and virtual encoder in the PowerFlex 700S will be used to synchronize the speed and position of the PowerFlex 700S master and followers. This document is for setting up the master drive. Electronic gearing can be used to match the speed of PowerFlex 700S drives with different mechanical gear ratios or electronic gearing can be used to make the PowerFlex 700S drives run at different ratios. Limitations: Requires that the motors on each PowerFlex 700S have encoders. Requires dynamic braking or other method of dissipating regenerative energy during deceleration. Options & Notes: Default configuration for 3 wire control through digital inputs may be changed to 2 wire control or for operation through 20-COMM-x module. This configuration is set for external dynamic braking. The values for P416 [Brake PulseWatts] and P417 [Brake Watts] must be loaded by the user. After downloading the *.dno file, power must be cycled on the master and follower drives to initialize SynchLink. After downloading *.dno file, the Motor Data, Fdbk Config, Pwr Circuit Diag, Direction Test, Motor Tests, and Inertia Measure parts of the Startup routine should be performed to auto-tune the PF700S drive to the motor. Please see AS_PF700S_VirtualEncdr_PositionFollower_wSynchlink.doc for information on independently jogging the master and follower drives, using the position offset, and setting up the electronic gear ratios. Drive Input & Output Connections: Inputs Function DI 1 Start DI 2 Stop DI 3 Jog 1 DI 4 NA DI 5 NA DI 6 NA AI 1 AI 2 AI 3 NA Encoder 0 Motor Feedback Encoder 1 Outputs Function DO 1 DO 2 DO 3 NA AO 1 AO 2 AO 3 NA AS_PF700S_VirtEncdr_PositMaster_SL.doc Form Revision – A Page 1 of 4 Description Used to independently jog the Master when position loop is disabled. Encoder Input 0 is wired to the quadrature encoder on Master Motor. Description Drive Application Software Application Set Parameter Configurations – Master Drive Changes from Default Parameter Settings Par Name Value 23 Speed Trim 3 24 SpdTrim 3 Scale 0.002 Link 55 37 Spd Ref Bypass 45 56 Inertia SpeedRef 45 57 InertiaAccelGain 1 58 InertiaDecelGain 1 61 Virt Encoder EPR 89 Spd Err Filt BW Application Dependent Application Dependent 90 Spd Reg BW 95 SregOut Filt Gain 1 128 Regen Power Lim -2 151 Logic Command 232 Encoder0 PPR 414 Bus/Brake Cnfg 416 Brake PulseWatts 417 Brake Watts 743 Aux Posit Ref 768 PositRef P Gain 838 839 840 DigIn1 Sel Dig In2 Sel Dig In3 Sel 1000 SL Node Cfg 1020 SL Tx Format Set to > 5 * P90 [Spd Reg BW] Gain of the speed loop. The speed loop should be tuned before enabling the position loop. See tech tip “20D-TT-BasicSpdTune” for tips on tuning the speed loop at the following link: http://www.ab.com/drives/powerflex/pf700s/application _tech/index.html Disables the feed forward lead lag filter. Allows up to 200% regenerative power to flow to the dynamic brake resistor. Bit 1 is on to enable the s-curve. Bit 10 is on to enable inertia compensation. Bit 13 can be turned on/off to enable/disable the position loop. B1 = 1 B10 = 1, B13 = 1 Application Dependent Sets the PPR for the PF700S motor feedback. 1111 Application Dependent Application Dependent 63 Application Dependent Start Normal Stop Jog 1 B0 = 1, B1 = 0, B2 = 0 9 – 0A, 4D, 8B AS_PF700S_VirtEncdr_PositMaster_SL.doc Form Revision – A Page 2 of 3 Description Speed Trim 3 comes from P55 [Speed Comp]. The multiplier for speed compensation. The value of P45 [Delayed Spd Ref] becomes the speed reference for the master drive. The value of P45 [Delayed Spd Ref] becomes the speed reference for the inertia compensation block. Inertia comp will add 100% of the required acceleration torque during accel. Inertia comp will subtract 100% of the required deceleration torque during decel. The virtual encoder EPR (edges per revolution ) is set to 4 times the encoder PPR for the motor feedback. Sets the drive up to do dynamic braking w/ external resistor first, then bus regulation. Sets the watt-second rating of the external dynamic brake resistor. Sets the continuous watt rating of the external dynamic brake resistor. P63 [Virt Encdr Dlyed] becomes the position reference in the master. Sets the proportional gain for the position loop. Set this to 1/5th of P90 after done tuning the speed loop. Start input for 3 wire control. Stop input for 3 wire control. Used to independently jog the PF700S follower when the position loop is disabled. Sets the virtual master as the time keeper for Synchlink. Selects the format of the transmit data to send 4 direct words @ 50µsec and 8 buffered words @ 0.5 msec. Drive Application Software Application Set Par 1021 Name SL Tx DirectSel 0 Value 21 – Dir Tx Data 21 – Dir Tx Data B0 = 1 1022 SL Tx DirectSel 1 1140 Tx Dir Data Type 1142 SL Dir Real Tx0 43 1143 SL Dir Int Tx1 62 AS_PF700S_VirtEncdr_PositMaster_SL.doc Form Revision – A Page 3 of 3 Link Description Indicates we are using the direct transmit buffer (P1142) to send data. Indicates we are using the direct transmit buffer (P1143) to send data. Indicates that transmit word 0 is floating point data, not integer. Sends the value of P43 [S Curve Spd Ref] over Synchlink. Sends the value of P62 [Virt Encdr Posit] over Synchlink.