Tension Regulator Reference Manual

Drive
Application
Software
Function Module
Tension Control
Generic Units
Reference Manual
FM – Tension Control
Important User Information
Users of this Reference Manual must be familiar with the application this Function Module is
intended to support and its usage. Function Modules intended usage are as a building blocks for
a created application. The user must be familiar with the programming tools used to implement
this module, the program platform to be used in the application, and the Rockwell Automation
drive products to be controlled in the application.
Because of the variety of uses for the products described in this publication, those responsible for
the application and use of this control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all performance and safety
requirements, including any applicable laws, regulations, codes and standards.
The illustrations, charts, sample programs and layout examples shown in this guide are intended
solely for purposes of example. Since there are many variables and requirements associated with
any particular installation, Rockwell Automation does not assume responsibility or liability (to
include intellectual property liability) for actual use based upon the examples shown in this
publication.
Rockwell Automation publication SGI-1.1, Safety Guidelines for the Application, Installation, and
Maintenance of Solid-State Control (available from your local Rockwell Automation office),
describes some important differences between solid-state equipment and electromechanical
devices that should be taken into consideration when applying products such as those described
in this publication.
Reproduction of the contents of this copyrighted publication, in whole or in part, without written
permission of Rockwell Automation, is prohibited.
Trademarks
RSLogix5000 is a trademark of Rockwell Automation
PowerFlex is a trademark of Rockwell Automation
Drive Application Software – page 2 of 52
FM – Tension Control
Table of Contents
1.0 Precautions ............................................................................................................6
2.0 Definitions ..............................................................................................................7
2.1 Conventions ..........................................................................................................7
2.2 Normalized Quantities...........................................................................................7
2.3 Terminology ..........................................................................................................8
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
Web .................................................................................................................................... 8
Strip .................................................................................................................................... 8
Drive ................................................................................................................................... 8
Motor Torque....................................................................................................................... 8
Section................................................................................................................................ 8
3.0 Overview .................................................................................................................9
3.1 Web Mechanics ....................................................................................................9
3.2 Draw Control .........................................................................................................9
3.3 Mechanical Dancer .............................................................................................10
3.4 Open Loop Torque..............................................................................................10
3.5 Tension Feedback ..............................................................................................11
4.0 Functional Description ........................................................................................12
4.1 Overview .............................................................................................................12
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.2
Supported Modes of Tension Regulation............................................................13
4.2.1
4.2.2
4.2.3
4.3
4.4
Typical Tension Regulation Modes .....................................................................................13
Special Requirements Tension Regulation Modes ..............................................................13
Tension Regulation Mode Selection....................................................................................15
Main routine ........................................................................................................16
Logic Routine ......................................................................................................16
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.4.6
4.4.7
4.4.8
4.4.9
4.4.10
4.4.11
4.4.12
4.4.13
4.4.14
4.4.15
4.4.16
4.4.17
4.4.18
4.4.19
4.4.20
4.4.21
4.4.22
4.5
Main routine .......................................................................................................................12
Logic routine.......................................................................................................................12
Regulator routine................................................................................................................12
TenRfTaper routine ............................................................................................................12
TrqMem routine..................................................................................................................12
CtrlEnbl ..............................................................................................................................17
Running..............................................................................................................................17
TenCtrl ...............................................................................................................................17
TrqCtrl ................................................................................................................................17
DanCtrl...............................................................................................................................17
TrqTrim ..............................................................................................................................17
SpdTrim .............................................................................................................................17
TenZoneDwStream ............................................................................................................18
ReverseRotation.................................................................................................................18
TrimHoldHigh .....................................................................................................................18
TrimHoldLow ......................................................................................................................18
TenRfStall ..........................................................................................................................18
TrqFbJLoss ........................................................................................................................18
TrqMemEnbl.......................................................................................................................18
TrqFolwCtrl.........................................................................................................................18
TenMax_EU .......................................................................................................................19
RadiusCalc_EU ..................................................................................................................19
GearRatio...........................................................................................................................19
MtrTrqRated_EU ................................................................................................................19
LineSpdMax_EU ................................................................................................................19
J_sec .................................................................................................................................20
LogicStat ............................................................................................................................20
Regulator routine ................................................................................................21
4.5.1
TenStpt_DC .......................................................................................................................22
Drive Application Software – page 3 of 52
FM – Tension Control
4.5.2
4.5.3
4.5.4
4.5.5
4.5.6
4.5.7
4.5.8
4.5.9
4.5.10
4.5.11
4.5.12
4.5.13
4.5.14
4.5.15
4.5.16
4.5.17
4.5.18
4.5.19
4.5.20
4.5.21
4.5.22
4.5.23
4.5.24
4.5.25
4.5.26
4.5.27
4.5.28
4.5.29
4.5.30
4.5.31
4.5.32
4.5.33
4.5.34
4.5.35
4.5.36
4.6
TenRfTaper routine.............................................................................................27
4.6.1
4.6.2
4.6.3
4.6.4
4.6.5
4.7
TenStptMin_DC..................................................................................................................22
TenStptMax_DC.................................................................................................................22
TenRfStall_Pct ...................................................................................................................22
TenRfStallMin_Pct .............................................................................................................22
TenRfTaper_Pct.................................................................................................................22
DanStpt_Pct.......................................................................................................................23
RfRate_PctSec ..................................................................................................................23
TenDanFb_DC...................................................................................................................23
.TenDanFbMin_DC ............................................................................................................23
TenDanFbMax_DC ............................................................................................................23
TrqFb_PU ..........................................................................................................................23
TrimKp ...............................................................................................................................23
TrimWld .............................................................................................................................23
TrimLimSpd_Pct.................................................................................................................23
TrimLimSpdZero_Pct .........................................................................................................24
LineSpdTrimLimSpd_Pct....................................................................................................24
TrimLimTrq_Pct..................................................................................................................24
TrimRate_PctSec ...............................................................................................................24
TrimFbWLead_Rad ............................................................................................................25
TrimFbLag_Rad .................................................................................................................25
DrvTrqRfJLoss_Pu .............................................................................................................25
LineSpd_EU.......................................................................................................................25
LineSpdMax_EU ................................................................................................................25
MtrSpdBase_RPM .............................................................................................................25
Constant_RPMperEU.........................................................................................................25
BuildUpRatio......................................................................................................................25
TrqRf_Pct...........................................................................................................................25
DrvSpdTrimRf_EU .............................................................................................................25
DrvSpdTrimRf_PU .............................................................................................................26
DrvTrqTrimRf_PU ..............................................................................................................26
DrvTrqMode.......................................................................................................................26
TenRf_Pct..........................................................................................................................26
RegRf_Pct .........................................................................................................................26
RegFb_Pct.........................................................................................................................26
RegErr_Pct ........................................................................................................................26
DiamCalc_EU ....................................................................................................................28
DiamFr_EU ........................................................................................................................28
DiamStrtTaper_EU.............................................................................................................28
TenRfTaperFR_Pct ............................................................................................................28
TenRfTaper_Pct.................................................................................................................28
TrqMem routine ..................................................................................................29
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.7.6
TrqFb_Pu...........................................................................................................................30
DrvTrqRfJLoss_PU ............................................................................................................30
TrqMemBoostEnbl .............................................................................................................30
TrqMemBoostRf_Pct..........................................................................................................30
TrqMemKnifeBoostEnbl......................................................................................................30
TrqMemKnifeBoostRf_Pct ..................................................................................................30
5.0 Setup/Configuration ............................................................................................31
5.1 Overview.............................................................................................................31
5.2 Logic JSR Instruction..........................................................................................31
5.2.1
5.2.2
5.2.3
5.3
Input Parameters................................................................................................................31
Output Parameters.............................................................................................................33
Default Tags used in Drive Application Software.................................................................33
Regulator JSR Instruction...................................................................................34
5.3.1
5.3.2
5.3.3
Overview............................................................................................................................34
Input Parameters................................................................................................................34
Output Parameters.............................................................................................................36
Drive Application Software – page 4 of 52
FM – Tension Control
5.3.4
5.4
5.4.1
5.4.2
5.4.3
5.5
Default Tags used in Drive Application Software .................................................................37
TenRfTaper JSR Instruction................................................................................38
Input Parameters................................................................................................................38
Output Parameters .............................................................................................................39
Default Tags used in Drive Application Software .................................................................39
TrqMem JSR Instruction .....................................................................................39
5.5.1
5.5.2
5.5.3
Input Parameters................................................................................................................39
Output Parameters .............................................................................................................40
Default Tags used in Drive Application Software .................................................................40
6.0 Tuning / Start Up ..................................................................................................41
6.1 Installing the Application Module.........................................................................41
6.2 Drive Tuning & Configuration ..............................................................................41
6.2.1
6.2.2
6.3
Trim Regulator Gains..........................................................................................42
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.4
Bandwidth ..........................................................................................................................42
Trim_KP.............................................................................................................................43
Trim_wld ............................................................................................................................43
TrimFbWLead_Rad ............................................................................................................44
TrimFbWLag_Rad ..............................................................................................................44
Dancer Regulation ..............................................................................................45
6.4.1
6.4.2
6.5
Drive Tuning.......................................................................................................................41
Analog Input 2 (Default Config for AM)................................................................................42
Trimming Speed: ................................................................................................................45
Trimming Torque ................................................................................................................45
Tension Regulator...............................................................................................46
6.5.1
6.5.2
Trimming Speed: ................................................................................................................46
Trimming Torque ................................................................................................................46
Appendix A - Process Line Command & Status Words..........................................47
Appendix B - Block Diagram .....................................................................................49
Appendix C - Parameter (Tag) Table.........................................................................50
Drive Application Software – page 5 of 52
FM – Tension Control
1.0 Precautions
Class 1 LED Product
ATTENTION: Hazard of permanent eye damage exists when using optical transmission
equipment. This product emits intense light and invisible radiation. Do not look into
module ports or fiber optic cable connectors.
General Precautions
ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and
assemblies. Static control precautions are required when installing, testing, servicing or
repairing this assembly. Component damage may result if ESD control procedures are
not followed. If you are not familiar with static control procedures, reference Allen Bradley
publication 8000-4.5.2, “Guarding Against Electrostatic Damage” or any other applicable
ESD protection handbook.
ATTENTION: An incorrectly applied or installed drive can result in component damage or
a reduction in product life. Wiring or application errors such as under sizing the motor,
incorrect or inadequate AC supply, or excessive surrounding air temperatures may result
in malfunction of the system.
ATTENTION: Only qualified personnel familiar with the PowerFlex 700S AC Drive and
associated machinery the products control should plan, program, configure, or implement
the installation, start-up and subsequent maintenance of the system / product. Failure to
comply may result in personal injury and/or equipment damage.
ATTENTION: To avoid an electric shock hazard, verify that the voltage on the bus
capacitors has discharged before performing any work on the drive. Measure the DC bus
voltage at the +DC & –DC terminals of the Power Terminal Block (refer to Chapter 1 in the
PowerFlex 700S User Manual for location). The voltage must be zero.
ATTENTION: Risk of injury or equipment damage exists. DPI or SCANport host products
must not be directly connected together via 1202 cables. Unpredictable behavior can
result if two or more devices are connected in this manner.
ATTENTION: Risk of injury or equipment damage exists. Parameters 365 [Encdr0 Loss
Cnfg] - 394 [VoltFdbkLossCnfg] let you determine the action of the drive in response to
operating anomalies. Precautions should be taken to ensure that the settings of these
parameters do not create hazards of injury or equipment damage.
ATTENTION: Risk of injury or equipment damage exists. Parameters 383 [SL CommLoss
Data] - 392 [NetLoss DPI Cnfg] let you determine the action of the drive if communications
are disrupted. You can set these parameters so the drive continues to run. Precautions
should be taken to ensure the settings of these parameters do not create hazards of injury
or equipment damage.
Drive Application Software – page 6 of 52
FM – Tension Control
2.0 Definitions
A Function Module [FM] is a base program designed to perform a specific function (operation) in
an application. Function Modules are not complete applications and will require additional
programming to control a machine section. The additional programming required for the
application and configuration of the overall application is the responsibility of the user.
An Application Module [AM] is a complete program designed to perform a specific machine
sections application (task). Application Modules are complete programs and only require
configuration and integration in order to perform the designated tasks.
2.1 Conventions
The conventions described below are used in programming and documentation of Function
Modules and Application Modules.
All FM tags are program scoped.
All user connections to the FM are through the Jump to Sub-Routine (JSR) instruction input
and return parameters.
Users cannot edit Function Modules.
Data format
Data Type
RSLogix Type
Format
B = Boolean
BOOL
x
I = Integer
INT
x
D = Double INT
DINT
x
R = Real (Float)
REAL
x.x
* = Applies to single precision accuracy.
Range
0 to 1
+/- 32767
+/- 2097151
+/-16777215*
Example
0 or 1
8947
74364
3.4 / 13.0
2.2 Normalized Quantities
Often a physical quantity is normalized by dividing the physical quantity by a base quantity
with the same engineering units as the physical quantity. As a result, the normalized quantity
does not have units, but is ‘expressed per-unit’. The normalized quantity has a value of 1.0
[per-unit] when the physical quantity has a value equal to the base quantity.
A good example of this is the physical quantity of motor current. The information that the
motor is drawing 40 amps has little significance. The motor nameplate states that the rated
motor current is 30 amps. The motor is drawing 133% current is significant information. In
the previous illustration the quantity of motor amps was normalized to 133%. In per unit, the
quantity is normalized to 1.33.
Drive Application Software – page 7 of 52
FM – Tension Control
2.3 Terminology
2.3.1 Web
A web is defined as the material that is being transported through the machine. A
web is sometimes referred to as “sheet” or “strip”.
2.3.2 Strip
The strip is defined as the material that is being transported through the machine. A
web is sometimes referred to as “sheet” or “web”. The term “strip tension” is
referencing the tension of the material in the machine.
2.3.3 Drive
The drive is the power device that is transmitting power to the motor. The motor is
connected to a mechanical device that is propelling the material. This manual is
specific to the PowerFlex 700S drive.
2.3.4 Motor Torque
A D.C. Motor has two currents flowing through it. The first current is the flux, also
known as the field current. This is the magnetizing current that allows the motor to
produce torque. The second current is the armature current. This is the actual
torque producing current of the motor.
An A.C. motor has only one current physically flowing through the machine.
However, this current is a combination of both magnetizing and torque producing
current. Motor Torque on an AC motor is the torque producing portion of the total
current flowing through the motor.
2.3.5 Section
A Web Handling Machine is broken up into sections. A section consists of one or
more drives used to propel the material through the line.
An Unwind Section could consist of one drive, one motor, and one spindle
A lead Section could consist of more than one drive and one motor combination.
This could consist of line pacer and then several helper drives. The helper drives
“help” in transporting the strip through the machine.
Typically when more than one drive is in a section, one drive is the leader and the
other drive is the follower. The follower typically follows the leader’s torque
reference.
Drive Application Software – page 8 of 52
FM – Tension Control
3.0 Overview
There are several methods of controlling the tension of the web (draw, mechanical dancer, load
cell feedback and open loop torque). The Tension Control Module allows the user to configure the
module for the various applications.
3.1 Web Mechanics
Stress Force/Width
All material follows a stress versus strain relationship. When the material is stretched a force
will be generated. The slope of the stress versus strain curve shown below is known as the
modulus and is commonly referred to as Young’s Modulus. As the strain on the material
increases, a point is reached where the material begins to stretch. At some point the strain
will become to great and the material will break. The modules is different for each material.
Modulus
Strain L/Lo
3.2 Draw Control
Draw Control is the control of difference in line speed between two sections. One roller on
the machine is a master speed reference. The other roll’s speed is adjusted to maintain a
draw to the master section. The speed differential between the two sections is the draw.
Tension Control using Draw is a manual operation. The machine operator adjusts the Draw
set point to maintain the desired tension in the web.
V2
V1
% Draw12 =
V1 − V 2
x100
V2
V3
% Draw23 =
V 2 −V 3
x100
V3
Drive Application Software – page 9 of 52
FM – Tension Control
3.3 Mechanical Dancer
A dancer is a mechanical device that applies force to the web. The force could be a weight,
air pressure, or hydraulic pressure. If there is any difference in speed between the two
sections, the dancer will move. If the speed of the out going section is greater than the speed
of the incoming section the Dancer will move up and have less stored web. If the speed of
the out going section is less than the incoming section the Dancer will move down and will
store more web. The Tension Control Function Module monitors the dancer position and
adjusts the driven section to maintain the dancer at a user specific position (typically 50%
travel).
Idler
Idler
Travel
Range
Dancer
Force
3.4 Open Loop Torque
Open loop torque does not require a tension or position feedback device. The amount of
torque required to change the tension between rolls may be calculated. The difference in
tension between sections plus losses is converted into percent motor torque. For Unwind
and Rewinds, the amount torque required is the tension required plus losses converted into
percent motor torque.
Inline Tensioning
Winder / Unwind
T1
R = Radius in feet
G = Gear Ratio
Tmr = Torque Motor Rated
% Torque =
Drive Application Software – page 10 of 52
T1
R
R
T1
R * G * Tmr
T2
* 100
% Torque =
(T1 - T2)
R * G * Tmr
* 100
FM – Tension Control
3.5 Tension Feedback
The Tension Control Function Module may be configured to use actual force tension
feedback to perform closed loop tension regulation. A force measurement device (typically
referred to as a Load Cell) is used to measure the actual force applied to the web. The load
cell does not apply a force to the web, as in the case of the dancer. The controlling section
applies the force to the web by pulling harder or by holding back. The load cell simply
measures the force on the web and provides the information to the controlling section.
Load Cell
Force Measurment Device
Force
Drive Application Software – page 11 of 52
FM – Tension Control
4.0 Functional Description
4.1 Overview
The Tension Control Function Module calculates tension torque requirements and supports
web tension control with dancer position feedback, load cell feedback, and without tension
feedback. The Tension Control Function Module consists of a program with five routines in
RSLogix 5000. These routines are dependent on one another and typically should not be
separated.
1.
2.
3.
4.
5.
Main (Ladder)
Logic (Ladder)
Regulator (Function Block)
TenRfTaper (Function Block)
TrqMem (Function Block)
The user may edit the Main routine to connect signals (tags) and configure the FM. The user
cannot edit the remaining routines. The Tension Control Function Module is unit less in
design. The modules outputs will reflect the inputs applied to module. The units applied to
the module must be consistent. DO NOT mix imperial and metric units.
4.1.1 Main routine
The Main routine is where the user connects user created controller tags to the input
and output program tags of the FM. These links are created in the Jump to SubRoutine (JSR) instructions. A unique JSR is used for each subroutine (Logic,
Regulator, TenRfTaper, & TrqMem).
4.1.2 Logic routine
The Logic routine is used to configure and control the tension regulator. The user
configures the Function Module based on what type of control (load cell, dancer, or
open loop torque). The user enters machine specific information such as gear ratio,
rated motor torque, etc.
4.1.3 Regulator routine
The Regulator routine controls either the position of the dancer; the tension utilizing a
load cell for feedback, or the open torque. This routine is also responsible for
selecting either run tension reference or stall tension reference and ramping the
selected reference to the final value.
4.1.4 TenRfTaper routine
The TenRfTaper routine adjusts the tension reference based on roll diameter. As the
material builds up on a winder, the tension reference is reduced to prevent material
damage. This routine performs linear taper. If a profiled taper circuit is required, the
user may delete this routine and generate their own control circuit.
4.1.5 TrqMem routine
The TrqMem routine is used to hold torque reference when transferring tension
control between two Center Winders. Once the web is cut from the expiring roll, the
incoming roll transfers into tension control.
Drive Application Software – page 12 of 52
FM – Tension Control
4.2 Supported Modes of Tension Regulation
4.2.1 Typical Tension Regulation Modes
The following modes of tension regulation are the most commonly employed. These
are not the only modes of tension regulation available, but are straight forward to
implement and commonly used in many industries.
4.2.1.1
Draw
Draw is the simplest form of tension control. The Draw control in the Process Line
Application Modules is supported through the RunJogSpdRf routine of the
LogixAndReference program. This type of tension regulation is typically used
without the tension regulator, but is sometimes used for speed offset in machines
that stretch the web. Variable diameter applications cannot be controlled with
only draw for tension regulation.
4.2.1.2
Dancer Position Control with Speed Trim
In this mode of tension control the tension (force) applied to the web is dependant
on the mechanical load applied to the dancer. The tension applied to the web is
independent of the regulating sections speed or torque as long as the mechanical
dancer has not reach it’s minimum or maximum travel limits. Typically, the
controlling section does not know the tension desired on the web. The controlling
section varies it’s speed to maintain the dancers position at typically 50% total
travel. The position feedback of the dancer is required by the controlling section.
4.2.1.3
Tension Feedback with Speed Trim
In this mode of tension regulation, the actual web tension is measured by a force
measurement device (load cell / transducer). The controlling section requires a
set point of web tension and the feedback of actual web tension. Based on the
values of these inputs the section will adjust (trim) it’s speed to maintain the
feedback tension equal to the set point tension.
4.2.1.4
Tension Feedback with Torque Trim (for Center Winder/Unwind)
This mode of tension regulation is recommended for Center Winder and Unwind
applications only. The actual web tension is measured by a force measurement
device (load cell / transducer). The controlling section requires a set point of web
tension and the feedback of actual web tension. The tension set point is used to
generate a base torque requirement. Based on the values of these inputs the
section will adjust (trim) it’s torque to maintain the feedback tension equal to the
set point tension.
4.2.1.5
Open Loop Torque Control (for Center Winder/Unwind)
This mode of tension regulation is recommended for Center Winder and Unwind
applications only. The actual web tension is not measured in this mode. As there
is not feedback device to “regulate” the tension, this mode of operation is called
“Open Loop”. The set point tension is used to calculate the required torque for
tension. If the losses for the machine change, the resultant tension on the web
will change as a result. The user can make adjustments to correct for losses.
4.2.1.6
Torque Follower
Torque follower is a special form of the “Open Loop Torque Control”. In this mode
the drive acts as in open loop torque control, but the torque set point is enter as
torque and typically communication from a master section. The torque set point in
the open loop torque control mode is entered as a tension set point.
4.2.2 Special Requirements Tension Regulation Modes
The following modes of tension regulation are specialized to particular industries or
require additional machine and mechanical data beyond what is typically available.
These additional requirements and sometimes the need of higher mathematics for
configuration, makes these modes of tension regulation more demanding on the
Drive Application Software – page 13 of 52
FM – Tension Control
user, commissioning engineer, and may require additional maintenance. Therefore,
we recommend application of these modes of tension regulation for only the most
experience engineers.
4.2.2.1
Dancer Position Control with Torque Trim
This mode of dancer position control requires accurate tension set point
information from the mechanical loading system. The method of loading and the
mechanical construction of the dancer direct effect the amount of tension applied
to the web. Without accurate web tension information from the loading device,
this mode of tension regulation will not function.
4.2.2.2
Dancer Position Control with Speed Trim & Torque Feed Forward
In this mode of tension control the tension (force) applied to the web is dependant
on the mechanical load applied to the dancer. The tension applied to the web is
independent of the regulating sections speed or torque as long as the mechanical
dancer has not reach it’s minimum or maximum travel limits. The controlling
section varies it’s speed to maintain the dancers position at typically 50% total
travel. The position feedback of the dancer is required by the controlling section.
In this mode of dancer position control, the required torque for tension is
calculated from the mechanical loading information and fed forward to the drive.
This requires accurate tension set point information from the mechanical loading
system. The method of loading and the mechanical construction of the dancer
direct effect the amount of tension applied to the web. Without accurate web
tension information from the loading device, this mode of tension regulation will
not function.
4.2.2.3
Tension Feedback with Torque Trim (for Inline Tensioning)
When applying this mode of tension regulation on an inline section, additional
information is required regarding the tension on the web of the adjacent section.
The dynamic information required from the adjacent sections tension makes this
mode more complicated to implement and is there for not recommended for retro
fits and systems with limited engineering resources. See section 3.4
4.2.2.4
Tension Feedback with Speed Trim & Torque Feed Forward
In this mode of tension regulation, the actual web tension is measured by a force
measurement device (load cell / transducer). The controlling section requires a
set point of web tension and the feedback of actual web tension. Based on the
values of these inputs the section will adjust (trim) it’s speed to maintain the
feedback tension equal to the set point tension. In addition, the torque required
due to tension is feed forward to the drive. In this configuration the drives speed
regulator is only trying to maintain the tension, not also generate the total required
torque. This causes the speed regulator to typically operate around zero
independent of the total torque required.
4.2.2.5
Open Loop Torque Control (for Inline Tensioning)
When applying this mode of tension regulation on an inline section, additional
information is required regarding the tension on the web of the adjacent section.
The dynamic information required from the adjacent sections tension makes this
mode more complicated to implement and is there for not recommended for retro
fits and systems with limited engineering resources. See section 3.4
4.2.2.6
Open Loop Torque Control with Speed Trim
This mode of tension regulation trims the speed reference of the section based on
the torque tension set point and torque actual feedback. This type of control can
be beneficial for torque applications with webs of very high spring coefficients like
steel. This configuration requires the “master” section (speed regulated) adjacent
to the torque section be coordinated with the same speed reference. The tuning
for this mode is sometimes very difficult and should be left for only the most
experienced engineers. This is not a typical (conventional) form of torque control.
Drive Application Software – page 14 of 52
FM – Tension Control
4.2.2.7
Open Loop Torque Control with Speed Trim & Torque Feed Forward
This mode of tension regulation trims the speed reference of the section based on
the torque tension set point and torque actual feedback. In addition to trimming
the speed, the torque per tension component is also feed forward to the drive.
This type of control can be beneficial for torque applications with webs of very
high spring coefficients like steel. This configuration requires the “master” section
(speed regulated) adjacent to the torque section be coordinated with the same
speed reference. The tuning for this mode is sometimes very difficult and should
be left for only the most experienced engineers. This is not a typical
(conventional) form of torque control.
4.2.2.8
Torque Follower Control Modes
The Torque Follower Control Modes operate exactly the same as the Open Loop
Torque control modes except the reference input is torque, not tension.
4.2.3 Tension Regulation Mode Selection
NA
X
X
X
X
X
X
X
X
X
NA
NA
X
X
X
X
X
X
X
X
X
Torque Follow
Bit 15
NA
Speed Trim
Bit 13
NA
Torque Trim
Bit 12
Dancer Control
Bit 11
X
X
X
X
X
X
X
X
X
X
X
X
Torque Control
Bit 10
Tension Control Mode
Draw trim – no Tension Regulator
Dancer Control with Speed Trim
Dancer Control with Torque Trim
Dancer Ctrl w Speed Trim & Trq FF
Tension Control with Speed Trim
Tension Control with Torque Trim
Tension Ctrl w Speed Trim & Trq FF
Open Loop Torque
Open Loop Torque with Speed Trim
Open Loop Trq w Spd Trim & Trq FF
Torque Follower Control
Torque Follower w Speed Trim
Torque Follower w Spd Trim & Trq FF
Tension Control
Bit 09
[ X ] indicates high
blank indicates low
Tension Control
Enable Bit 07
The following table indicates the command word settings to activate the listed modes
of tension regulation. The Process line command word is [ wDLx_DrvCmmdProcLn ].
The selected mode of thension control is activated and deactivated with bit 7
[Tension Control Enable] of the command word. If this is low, the selected mode of
tension regulation will be off and the drive will operate in speed mode.
NA
X
X
X
X
X
X
X
X
X
X
Drive Application Software – page 15 of 52
FM – Tension Control
4.3 Main routine
The Main routine consists of four rungs of ladder logic programming. A rung description
briefly describes the Input and Return (output) parameters of the JSR instructions for each
routine called. Temporary tags have been entered for each input parameter and each return
parameter. The tag names entered in the JSR’s are not declared. The user must replace
these tag names with existing project tags or create new tags. The routine will show an error
until all input and return parameters are satisfied. The input parameters may also be entered
as actual values. If an input parameter is set to a value and not a tag, the value cannot be
edited in run mode. Values entered directly in the JSR should be constants that do not
change during machine operation. Specific formatting is required for values entered directly
in the JSR.
NOTE: For Application Module users, the tags in the JSR’s are predefined and configured for
operation. No additional integration is necessary.
Data Type
B = Boolean
I = Integer
R = Real (Float)
Format
x
x
x.x
Example
0 or 1
123
3.4 / 13.0
If any signal scaling is required to interface the FM into the user application, the user may use
the main routine for this programming. Note; Scaling for inputs to the routines should be
done before the JSR and any scaling applied to the return values from the routines should
be done after the JSR.
4.4 Logic Routine
The Logic Routine is used to configure the Tension Control Function Module. In this routine
the selected tension mode is tested, constants for speed and torque scaling are generated,
and sections of code are enabled or disable depending on the tension mode selected.
Input Parameters
Name
1 CtrlEnbl
BOOL
Range
0 to 1
2
Running
BOOL
0 to 1
3
4
5
6
7
TenCtrl
TrqCtrl
DanCtrl
TrqTrim
SpdTrim
BOOL
BOOL
0 to 1
0 to 1
0 to 1
0 to 1
0 to 1
8
TenZoneDwStream
BOOL
0 to 1
9
10
11
12
13
14
15
16
17
18
ReverseRotation
TrimHoldHigh
TrimHoldLow
TenRfStall
TrqFbJLoss
TrqMemEnbl
TrqFolwCtrl
TenMax_EU
RadiusCalc_EU
GearRatio
BOOL
0 to 1
0 to 1
0 to 1
0 to 1
0 to 1
0 to 1
0 to 1
NA
NA
NA
Drive Application Software – page 16 of 52
Type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
REAL
REAL
REAL
Description
Enables the Tension Control Module
Releases the tension regulator when the
machine is running
Select Tension Control
Select Torque Control
Select Dancer Control
Regulator adjust Trq Reference
Regulator adjust Speed Reference
Location of the Tension Zone with
respect to the controlling section
selects the sign of the Torque signal
Trim Regulator Hold High
Trim Regulator Hold Low
Stall Tension Reference Selected
Torque Fdbk includes Inertia & Friction
Torque Memory Enable
Torque Follower Control
Tension Maximum [Engineering Units]
Calculated Radius
Gear Ratio [Motor Speed/Roll Speed]
FM – Tension Control
19 MtrTrqRated_EU
20 LineSpdMax_EU
21 J_sec
Return Parameters
Name
1 LogicStat
2 TrqPerTen
3
TrqPerLineSpd_sec
REAL
REAL
REAL
Type
NA
NA
0 to 500
REAL
Range
NA
NA
REAL
NA
DINT
Motor Rated Torque [Engineering Units]
Max Line Speed [Engineering Units
Total Reflected Inertia [Sec]
Description
Logic Status
Torque Per Tension Conversion
Torque [% of Motor Rated] Per Speed
[% of Maximum Line Speed]
4.4.1 CtrlEnbl
The CtrlEnbl input enables the regulator. When false the regulator output will ramp to
zero. This input must be high to activate the selected mode of tension regulation.
Usage – Use this input to activate the regulator.
4.4.2 Running
This input indicates that the drive is running. It is used to release the tension
regulator when running and to disable the tension regulator when the section is
commanded to stop.
Usage – Connect this input to the drive running bit in the Process line status word.
4.4.3 TenCtrl
This input configures the controller to regulate tension. Tension set point and tension
feedback signals are for the regulation in this mode.
Usage – Use this input to configure the controller to regulate tension.
4.4.4 TrqCtrl
This input configures the controller to regulate torque. The torque reference is
calculated based on the desired tension.
Usage – Use this input to configure the controller to regulate torque.
4.4.5 DanCtrl
This input configures the controller to regulate dancer position. The dancer’s position
reference is set with DanStpt_Pct (typically 50%). The feedback for the regulator is
the actual dancer position.
Usage – Use this input to configure the controller to regulate dancer position...
4.4.6 TrqTrim
This input configures the regulator’s output to adjust (trim) the torque signal to the
drive.
Usage – Use this input to have the controller adjust the torque signal to the drive.
4.4.7 SpdTrim
This input configures the regulator’s output to adjust (trim) the speed signal to the
drive.
Usage – Use this input to have the controller adjust the speed signal to the drive.
Drive Application Software – page 17 of 52
FM – Tension Control
4.4.8 TenZoneDwStream
This input configures the regulator’s output based on the drive’s position in the web
path. If the tension zone controlled by the section is up stream (before) the section,
set this input low. If the tension zone controlled by the section is down stream (after)
the section, set this input high.
Usage – Set this input based on section position relationship to the master section
4.4.9 ReverseRotation
This input reverses the Rotation of the drive. It is used for Over/Under Wind
Operation. Setting this input high indicates an Under Wind operation. If the winder /
unwind is only operated in the under wind mode, configure the machine for positive
direction equals under wind and set this bit low
Usage – Set this input to change the polarity of the rotation based on machine
parameters.
4.4.10 TrimHoldHigh
This input holds the positive output of the PI Regulator.
Usage – Use this input to hold the PI regulator from increasing in value.
4.4.11 TrimHoldLow
This input holds the negative output of the PI Regulator.
Usage – Use this input to hold the PI regulator from decreasing in value.
4.4.12 TenRfStall
The tension reference typically is set to a lower value while the machine is at rest and
the tension regulator remains activated. This input activates the stall tension
reference. When activated, the tension reference is switched to the stall tension
reference.
Usage – Use this input to set the tension reference to a lower value while the
machine is at or near zero speed.
4.4.13 TrqFbJLoss
This parameter is set depending on the components of the torque feedback used in
the application program. If the torque feedback from the drive contains the inertia
and losses torque components, this value should be set to 1.
Usage – Use this input if the torque feedback (torque producing current) includes the
losses compensation.
4.4.14 TrqMemEnbl
The Torque Memory Enable feature is used when transferring rolls on a turret winder
stand. When torque memory is enabled, the tension control mode is change to
Torque Open Loop. There is a separate subroutine to handle Torque Memory.
Usage – Use this input if the Torque Memory Subroutine is present.
4.4.15 TrqFolwCtrl
The Torque Follower Controller is used when the drive is following a torque signal
from another drive. The tension control mode is Torque control but he reference is
entered as PU torque and not tension. This mode sometimes is referred to as load
sharing.
Usage – Use this input if the drive is following a torque reference signal from another
drive.
Drive Application Software – page 18 of 52
FM – Tension Control
4.4.16 TenMax_EU
This is the maximum tension for the section. Maximum tension is usually determined
by the machine builder and/or motor rating and gear ratio. Pounds and ounces are
typical units for the Imperial System. Newtons are typical units for the metric system.
Usage - Connect to the Maximum Tension tag or set the value of Maximum Tension
in the JSR instruction
4.4.17 RadiusCalc_EU
This is the Radius of the roll controlling tension. For a variable diameter section, this
value will be calculated from the diameter calculator. The units need to match the
same units as Line Speed Max (see below). Typical units are feet (Imperial) or
meters (Metric).
Usage - Connect to the Calculated Radius tag or set the value of Radius in the JSR
instruction.
4.4.18 GearRatio
The gear ratio of the machine section.
GearRatio =
MotorRevolutions
RollRevolutions
Usage – Connect to the gear ratio tag or set the value of gear ratio in the JSR
instruction.
4.4.19 MtrTrqRated_EU
This is motor rated torque in engineering units. The engineering units for this term
must match with the engineering units for TenMax_EU and RadiusCalc_EU. For
example if the tag TenMax_EU has units of pounds and the RadiusCalc_EU has
units of feet, than the units for motor rated torque would be foot-pounds.
The Motor Rated torque can be calculated using the motor’s nameplate data. For
Imperial Units (Foot-Lbs), the equation is the following:
MtrTrqRated ( foot − pounds) =
MotorHorsePower * 5252
MotorRatedSpeed
For Metric Units (Newton-Meters), the equation is the following:
MtrTrqRated (newton − meters) =
MotorKiloWatts * 9.55
1000 * MotorRatedSpeed
Note: Application Module users, The rated motor torque is calculated by the program.
Usage – Connect to the Rated Motor Torque tag or set the value of Rated Motor
Torque in the JSR instruction.
4.4.20 LineSpdMax_EU
This is the Line Speed Maximum in engineering units.
Usage – Connect to the Line Speed Max tag or set the value of Line Speed Max in
the JSR instruction.
Drive Application Software – page 19 of 52
FM – Tension Control
4.4.21 J_sec
J_sec is the total inertia reflected back to the motor. For variable diameter rolls, the
inertia comp routine will calculate this value. For constant diameter rolls, the drive
calculates this value. For the PowerFlex 700S, parameter 9 is the total system inertia
reflected back to the motor in seconds. Inertia in seconds is define as the Time to
reach base motor speed at rated motor torque.
Usage – Connect to the J_sec tag or set the value of J_sec in the JSR Instruction.
4.4.22 LogicStat
This is the logic status from the tension control routine. The logic status tag is used
by other routines in the Tension Control Function Module.
Bit 00
Bit 01
Bit 02
Bit 03
Bit 04
Bit 05
Bit 06
Control On: The tension control regulator is active.
Tension Control: The tension control regulator is controlling tension.
Torque Control: The tension control regulator is controlling torque.
Dancer Control: The tension control regulator is controlling dancer
position.
Torque Follower Control: The drive is following the torque reference
from another drive.
Torque Trim: The tension control regulators output is summing with the
drive torque reference.
Speed Trim: The tension control regulator’s output is summing with
drive’s velocity reference.
Bit 07
Bit 08
Bit 09
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27 31
PI Integral Hold High: The PI Regulator is inhibited in increasing its
output.
PI Integral Hold Low: The PI Regulator is inhibited form decreasing its
output.
Stall Tension: The Tension Control’s Reference is the stall tension
reference.
TrqFbJloss: The Torque feedback from the drive includes the inertia
and losses
Torque Memory On: The Torque Memory is enabled.
Tension Reference Off: The tension control regulator is not active
Dancer Reference Off: The tension control regulator is not controlling
position of a dancer.
Min/Max Torque: The tension control regulator is set up for Min/Max
Torque.
Min/Max Torque On. The tension control regulator is actively controlling
torque.
Regulator On: The tension control regulator is on.
Regulator Off: The tension control regulator is off.
FeedForwardOn: The tension control algorithm is feed forwarding a
torque signal.
TorqueFeedForwardNegage: The feed forward term is negated.
TorqeFeedbackNegate: The Torque feedback is negated.
TrimOutputNegate: The output of the tension control regulator is
negated
TorqueReferenceOn: The drive is following a torque follower
Not used
Drive Application Software – page 20 of 52
FM – Tension Control
4.5
Regulator routine
The regulator routine is responsible for closing the tension, position or torque loop. This
routine is also responsible for switching between stall and run reference. When enabled, the
regulator will ramp the reference set point from the feedback value to the set point.
This routine accepts the feedback directly from the analog input module. The routine will
then scale the feedback from minimum tension reference to a maximum tension reference.
This routine also generates a feed forward torque reference based on the tension set point,
roll radius, gear ratio and motor rated torque.
The closed loop system consists of a lead-lag filter and a PI regulator. This has the ability to
close all three types of tension regulation loops (tension, position or torque). When the
regulator is configured for tension, the feedback is actual tension from a load cell. When the
regulator is configured for position, the feedback is the actual position feedback of a dancer.
There is a signal generated in the routine that may be optionally used to apply loading
pressure to the dancer. When the regulator is configured for torque, the feedback is the
torque feedback from the drive.
Input Parameters
Name
TenStp_DC
TenStpMin_DC
TenStpMax_DC
TenRfStall_Pct
TenRfStallMin_Pct
TenRfTaper_Pct
DanStpt_Pct
RfRate_PctSec
TenDanFb_DC
TenDanFbMin_DC
TenDanFbMax_DC
TrqFb_PU
TrimKP
TrimWld_Rad
TrimLimSpd_Pct
TrimLimSpdZero_Pct
REAL
Range
NA
NA
NA
0 to 100
0 to 100
0 to 100
0 to 100
0 to 100
NA
NA
NA
-2.0 to 2.0
0 to 50
0 to 5
0 to 100
0 to 100
17 LineSpdTrimLimSpd_Pct
REAL
0 to 100
18
19
20
21
22
23
24
25
26
27
28
REAL
0 to 100
0 to 100
0 to 10
0 to 200
-2.0 to 2.0
NA
NA
NA
XXX
XXX
-100 to 100
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
TrimLimTrq_Pct
TrimRate_PctSec
TrimFbWLead_Rad
TrimFbWLag_Rad
DrvTrqRfJLoss_PU
LineSpd_EU
LineSpdMax_EU
MtrSpdBase_RPM
Constant_RPMperEU
BuildUpRate
TrqRf_Pct
Type
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
Description
Tension set point [Data Counts](RAW)
Min Tension set point [Data Counts]
Max Tension set point [Data Counts]
Tension Reference Stall Percent
Tension Reference Stall Min Percent
Tension Reference Taper %
Dancer Set point [% of Full Storage]
Reference Rate [% per Second]
Tension/Dancer Fdbk [Data Counts]
Minimum Tension/Dancer Feedback
Maximum Tension/Dancer Feedback
Torque Feedback [Per Unit]
Trim Regulator Proportional Gain
Trim Regulator Lead Frequency
Speed Trim Limit [% Max Line Speed]
Speed Trim Limit at Zero Speed
Line Speed where full speed trim will
be available
Torque Trim Limit [% of Max Tension]
Trim Rate [% Unit/Second]
Feedback Lead Frequency [Rad/Sec]
Feedback Lag Frequency [Rad/Sec]
Inertia & Losses Torque Ref to Drive
Line Speed [Engineering Units]
Line Speed Maximum
Base Speed from Motor Name Plate
Converstion Constant
Build Up Ratio
Torque Reference [% Rated Torque]
Drive Application Software – page 21 of 52
FM – Tension Control
Return Parameters
Name
Type
Range
1
DrvSpdTrimRf_EU
REAL
NA
2
DrvSpdTrimRf_PU
REAL
-1.0 to 1.0
3
DrvTrqTrimRf_PU
REAL
-1.0 to 1.0
4
DrvTrqMode
INT
0 to 5
5
TenRf_Pct
REAL
0 to 100
6
7
8
RegRf_Pct
RegFb_Pct
RegErr_Pct
REAL
0 to 100
0 to 100
-100 to 100
4.5.1
REAL
REAL
Description
Drive Speed Trim Reference
[Engineering Units]
Drive Speed Trim reference [Per Unit]
Drive Torque Trim Reference [Per
Unit]
Drive Torque Mode Selection
Tension Reference [Percent of
Maximum]
Regulator Reference (Input)
Regulator Feedback (Input)
Regulator Error
TenStpt_DC
This is the tension set point in raw “Data Counts”. The Tension set point will be
scaled from 0 to 100 percent based on TenStptMin_DC and TenStptMax_DC.
Usage – Connect to the tag that is the tension set point of the section.
4.5.2 TenStptMin_DC
This is the tension reference value that will equate to 0 percent.
Usage - Connect to the Tension Set point Minimum value tag or set the constant
value in the JSR.
4.5.3 TenStptMax_DC
This is the tension reference value that will equate to 100 percent.
Usage - Connect to the Tension Set point Maximum value tag or set the constant
value in the JSR.
4.5.4 TenRfStall_Pct
This is stall tension reference set point. This value is express in terms of percent of
Tension Set point. If TenRfStall_Pct is set to 10% and the Tension Set point is 100
pounds, than in stall the tension reference would be 10 pounds.
Usage - Connect to the Tension Reference Stall Set point value tag or set the
constant value in the JSR.
4.5.5 TenRfStallMin_Pct
The Tension Reference Stall Minimum Percent is used to maintain a minimum
tension on the web during stall. This value is in percent of maximum tension. In the
above description, during stall the tension reference would be 10 pounds. However,
in this example the machine must maintain a minimum 25 pounds. If the maximum
tension (TenStpMax_DC) is 1000 pounds, then TenRfStallMin_Pct would be set to
2.5%.
25
x 100 = 2.5%
1000
4.5.6 TenRfTaper_Pct
This is the taper tension reference in percent. The value is calculated in the
TenRfTaper routine.
Usage - The tag entered in the TenRfTaper JSR instruction for this return parameter
should be entered as an input parameter to the Regulator JSR instruction.
Drive Application Software – page 22 of 52
FM – Tension Control
4.5.7 DanStpt_Pct
This is the Dancer Set point in percent.
Usage - Connect to the Dancer Set Point value tag or set the constant value in the
JSR. (Typical usage is setting to a constant, approximately 50%)
4.5.8 RfRate_PctSec
This is the rate limit of the reference set point. The reference set point in percent is
incremented or decremented by this value. For example, if RfRate_PctSec were set
to 1, than it would take 100 seconds for the reference to ramp from zero to 100
percent. If RfRate_PctSec were 100, then it would take one second for the reference
to ramp from zero to 100 percent. This is used for “bump less” transfers in and out of
tension control.
Usage - Connect to the Reference Rate value tag or set the constant value in the
JSR
4.5.9 TenDanFb_DC
This is the Tension or Dancer Feedback in data counts. In the Application Module,
this signal is set up to come directly from an analog input 2 of the PowerFlex 700S.
Usage – Connect to the tag that is the tension or dancer feedback of the drive
section
4.5.10 .TenDanFbMin_DC
This is the value of TenDanFb_DC that equates to 0 percent.
Usage - Connect to the Tension or Dancer Feedback Minimum value tag or set the
constant value in the JSR.
4.5.11 TenDanFbMax_DC
This is the value of TenDanFb_DC that equates to 100 percent.
Usage - Connect to the Tension or dancer feedback maximum value tag or set the
constant value in the JSR.
4.5.12 TrqFb_PU
This is the torque feedback for “Closed Loop” torque control when trimming speed.
Usage – Connect to the tag that is the actual torque feedback (PU) of the drive
section.
4.5.13 TrimKp
This is the proportional gain of the trim PI regulator. This affects both the calculated
value of the integral and proportional control algorithm.
Usage - Connect to the Trim Kp value tag or set the constant value in the JSR
4.5.14 TrimWld
This is the lead frequency of the PI regulator in radians/second. This affects the
calculated value of the integral control algorithm.
Usage - Connect to the Trim Wld value tag or set the constant value in the JSR
4.5.15 TrimLimSpd_Pct
This is the maximum amount of speed trim the regulator will output. This value is in
percent of Maximum Line Speed.
Usage - This value is typically set to 10%. Connect to the Trim Limit value tag or set
the constant value in the JSR.
Drive Application Software – page 23 of 52
FM – Tension Control
4.5.16 TrimLimSpdZero_Pct
This is the amount of speed trim the regulator will output at zero speed. This value is
in percent of Maximum Line Speed.
Usage – This value is typically 1 to 2 %. Connect to the Trim Limit at Zero speed
value tag. Or set the constant value in the JSR.
4.5.17 LineSpdTrimLimSpd_Pct
This is the line speed where the trim limit output will be equal to TrimLimSpd_Pct. As
the line speed is increased from zero to this value, the trim limit output is
incrementing from TrimLimSPdZero_Pct to TrimLimSpd_Pct. This value is entered
as a percent of maximum line speed.
Usage – Connect to the Line Speed Maximum for trim reference tag or set the
constant value in the JSR.
TrimLimitPercent
TrimLimSpd_Pct
0
LineSpdTrimLimSpd_Pct
LineSpeed
4.5.18 TrimLimTrq_Pct
This is the trim limit when the trim regulator is acting in torque control. It is entered
as percent of maximum tension for the section.
Usage – This value is typically 20 to 30%. Connect to the Trim Limit Torque tag or set
the constant value in the JSR.
4.5.19 TrimRate_PctSec
When the trim regulator is turned off, the output is ramped from the current value to
zero. The decrement rate is determined by TrimRate_PctSec. This is part of “bump
less” transfer for the tension control circuit.
Usage - Set this value to avoid sudden changes in tension when the regulator is
switched off. This is used when the system is changed to sensor less mode.
Drive Application Software – page 24 of 52
FM – Tension Control
4.5.20 TrimFbWLead_Rad
This is the regulator feedback signal's Lead / Lag filter lead term in Radians/Second.
Usage – Set this value as appropriate. See specific tuning guidelines.
4.5.21 TrimFbLag_Rad
This is the regulator feedback signal’s Lead / Lag filter lag term in Radians/Second.
Usage – Set this value as appropriate. See specific tuning guidelines.
4.5.22 DrvTrqRfJLoss_Pu
This is the inertia and losses compensation value for the drive section. This value is
calculated in the inertia & losses routine. It includes both inertia compensation,
windage, and friction losses.
Usage - The tag entered in the losses JSR instruction for this return parameter
should be entered as an input parameter to Regulator JSR instruction.
4.5.23 LineSpd_EU
This is the linear line speed reference in engineering units.
Usage – Enter the tag that represents line speed in engineering units.
4.5.24 LineSpdMax_EU
This is the maximum line speed for the section in engineering units.
Usage – Enter the value in the JSR Instruction.
4.5.25 MtrSpdBase_RPM
This is the motor base speed in rpm. This value can be found on the motor name
plate and must equal the value set in the drive’s parameter base.
Usage – Enter the motors base speed into the JSR instruction.
4.5.26 Constant_RPMperEU
This is the constant that converts the linear line speed to RPM at core diameter.
Usage – Enter the tag for RPM to Engineering Unit Conversion or the value into the
JSR Instruction.
4.5.27 BuildUpRatio
This is the build up ratio. It is calculated by the diameter calculation subroutine. A
build up ratio of 1 = Min Empty Core.
Usage – The tag entered in the DiamCalc JSR instruction for this return parameter
should be entered as an input parameter to the Regulator JSR instruction
4.5.28 TrqRf_Pct
This is the torque reference in percent of rated motor torque. This torque reference is
used when in Torque Follower Control and/or when torque memory is activated.
Usage – Enter the tag for torque reference percent or the value to the JSR
instruction.
4.5.29 DrvSpdTrimRf_EU
This is the output of the regulator in speed trim mode. This value is in engineering
units.
Usage- Use this value if the speed reference to the drive is in engineering units. This
value is summed the feed forward term.
Drive Application Software – page 25 of 52
FM – Tension Control
4.5.30 DrvSpdTrimRf_PU
This is the output of the regulator in speed trim mode. This value is in Per Unit and
can be summed with the feed forward speed reference to the drive.
Usage- Use this value if the speed reference to the drive is in per unit. This value is
summed the feed forward term.
4.5.31 DrvTrqTrimRf_PU
This is the output of the regulator in torque trim mode. This value is in Per Unit and
can be summed with the feed forward torque reference to the drive.
Usage- Sum this value with the torque reference of the drive.
4.5.32 DrvTrqMode
This is the request torque mode to the drive.
0 = Zero Torque
1 = Speed Mode (Torque Reference is output of the speed regulator)
2 = Torque Mode (Torque Reference is the external torque reference).
3 = Min Mode (Torque Reference is the minimum value of either the speed
regulator or torque reference).
4 = Max Mode (Torque Reference is the minimum value of either the speed
regulator or the torque reference).
5 = Sum Mode (Torque Reference is the sum of the speed regulator and external
torque reference).
Usage – This value needs to be linked to the torque mode select of the drive.
4.5.33 TenRf_Pct
This is the Tension Reference as a percentage of maximum tension.
Usage – Can be used for display purposes.
4.5.34 RegRf_Pct
This is the Regulator Reference in percentage of rated reference. If the Trim
Regulator is regulating tension then this value is the percentage of maximum tension.
If the trim regulator is regulating dancer position, then this value is the percentage of
maximum storage. If the trim regulator is regulating torque, then this value is the
percentage of motor rated torque. The value will include adjustment from the
Tension Taper routine for Tension Control mode and Torque Control mode
Usage – This value can be used for display purposes.
4.5.35 RegFb_Pct
This value is the regulator feedback in percentage of rated reference. If the Trim
Regulator is regulating tension then this value is the percentage of maximum tension.
If the trim regulator is regulating dancer position, then this value is the percentage of
maximum storage. If the trim regulator is regulating torque, then this value is the
percentage of motor rated torque.
Usage – This value can be used for display purposes.
4.5.36 RegErr_Pct
This value is the regulator error in percentage of rated reference.
Usage – This value can be used for display purposes.
Drive Application Software – page 26 of 52
FM – Tension Control
4.6 TenRfTaper routine
The routine is for use in Center Winder applications only.
As material is wound on to the roll, the tension reference is reduced to prevent crushine
(damage) to the material all ready wound on the core. The web chariastics and finished roll
diameter dictate if and how much taper is required. The taper percentage is adjusted as a
function of roll diameter. At core the actual tension will be the setpoint tension. As diameter
increases the actual tension will be decreased until full roll diameter is reached. The percent
taper is the percent of the setpont tension to be applied at full roll.
The TenRfTaper reduces the tension reference as the roll diameter builds. The user inputs
the diameter at which taper tension begins and the amount of taper tension in percent.
Taper Percent
Setpoint
TenRfTaperFR_Pct
Diameter_EU
DiamStrtTaper_EU
1
2
3
4
Input Parameters
Name
DiamCalc_EU
DiamFR_EU
DiamStrtTaper_EU
TenRfTaperFR_Pct
1
Return Parameters
Name
TenRfTaper_Pct
Type
REAL
REAL
REAL
REAL
Type
REAL
DiamFr_EU
Range
NA
NA
NA
0 to 100
Description
Diameter Engineering Units
Diameter Full Roll
Diameter Start Taper
Tension Reference Full Row %
Range
0 to 100
Description
Taper Tension Reference Pct
Drive Application Software – page 27 of 52
FM – Tension Control
4.6.1 DiamCalc_EU
The DiamCalc_EU is the actual diameter of the center drive roll. This comes from
the Diameter Calculator Routine.
Usage – Connect the DiamCalc_In tag to the JSR instruction
4.6.2 DiamFr_EU
This is the Diameter where the taper tension stops decreasing. When the
DiamCalc_EU is equal to DiamFR_EU, then the actual web tension will equal Set
point Tension * TenRfTaper_Pct.
Usage – Input the Diameter value at which the taper tension stops decreasing. In the
Application Module, this is set to the full roll diameter value.
4.6.3 DiamStrtTaper_EU
This is the Diameter where the actual tension starts decreasing s set by the taper
tension percent. If the DiamCalc_EU is below this value the taper tension percent
will remain at 100%. When the DiamCalc_EU is greater than DiamStrtTaper_EU,
then the taper tension will decrease toward the TenRfTaperFR_Pct.
Usage – Input the Diameter value at which the taper tension starts decreasing.
4.6.4 TenRfTaperFR_Pct
This is the final value of the taper tension. The Taper Tension Output will equal this
value whenever the DiamCalc_EU is equal or greater to DiamFR_EU.
Usage – Input the Taper Tension Reference final value in percent.
4.6.5 TenRfTaper_Pct
This is the output of the taper tension reference routine. The output remains at 100%
until the diameter is equal to or greater than DiamStrtTaper_EU. When the diameter
is between the start diameter and full row diameter, the tension reference is reduced
on a linear basis between 100 percent and the value of full roll tension reference.
This output is multiplied by the Tension set point to generate a final tension reference
based on taper.
Drive Application Software – page 28 of 52
FM – Tension Control
4.7 TrqMem routine
The torque memory subroutine is used to hold the drive’s torque reference at a constant
value when a roll change is performed on a Center Winder with automatic roll change
support. The base torque memory value is the torque feedback prior to enabling torque
memory. The Torque Memory Routine has two Boost commands. The first is a
TrqMemBoostEnbl and the other is a TrqMemKnifeBoostEnbl. Both of these boosts have
individual settings. Both settings are a percentage multiplier to the base memorized torque
from the drive.
Torque
For example, the drive’s torque feedback was varying between 49 to 51 percent. When the
torque memory is enabled the Torque Feedback was 50 percent. The Torque Memory base
value is now set to 50 percent. The TrqMemBoostRf_Pct is set for 10% and the
TrqMemKnifeBoostRf_Pct is set for 50%. When the TrqMemBoostEnbl is set, the Torque
Memory Reference is set to 55% (1.10 * 50% = 55%). When the TqMemKnifeBoostEnbl is
set, the Torque Memory Reference is set to 75% (1.50 * 50% = 75%). Once Torque memory
is disabled the Torque Memory Reference is set equal to the Torque Feedback of the drive.
Time
TrqMemBoostEnbl
TrqMemKnifeBoostEnbl
Torque Memory Enable
1
2
3
4
5
Input Parameters
Name
TrqFb_PU
DrvTrqRfJLoss_PU
TrqMemBoostEnbl
TrqMemBoostRf_Pct
TrqMemKnifeBoostEnbl
BOOL
Range
NA
NA
0 to 1
10 to 300
0 to 1
6
TrqMemKnifeBoostRf_Pct
REAL
10 to 300
Type
REAL
REAL
BOOL
REAL
Description
Torque Feedback Per Unit
Torque Reference for inertia & Losses
Torque Memory Boost Enable
Torque Memory Boost Reference
Torque Memory Knife Boost Enable
Torque Memory Knife Boost
Reference
Drive Application Software – page 29 of 52
FM – Tension Control
1
Return Parameters
Name
TrqRf_Pct
Type
REAL
Range
0 to 200
Description
Torque Reference Percent
4.7.1 TrqFb_Pu
The drive torque feedback is in per unit. A value of one (1) is equal to 100% torque
rating of the motor. This is the torque producing current of the motor. This value is
monitored and captured when the torque memory enable is set true.
Usage – This is the torque feedback from the drive.
4.7.2 DrvTrqRfJLoss_PU
All mechanical systems have losses. These consist of friction and windage. Along
with losses additional torque is required to accelerate the section. This is known has
inertia compensation. Both of these components are added together to produce
DrvTrqRfJLoss_PU. This value is in per unit. A value of one (1) is equal to 100%
torque rating to the motor. The Torque Memory Routine will subtract this value from
torque feedback if the torque feedback includes the losses compensation.
Usage – Connect to Drive Torque Reference J Loss in the JSR instruction.
4.7.3 TrqMemBoostEnbl
When the torque memory boost enable is set the captured Torque Feedback is
increased by the Torque Memory Boost Reference %. When the torque memory
boost is reset, the output is set back to the captured Torque Feedback.
Usage – Use this when the Captured Torque value needs to be increased.
4.7.4 TrqMemBoostRf_Pct
When the Torque Memory Boost is enabled, the captured Torque Feedback is
increased by the Torque Memory Boost Reference Percent. This reference is a
percentage increase. For example, if TrqMemBoostRf_Pct is set to 10%, the Torque
Memory Reference will be 10% more than the Torque Feedback of the drive.
Usage - Connect to the TrqMemBoostRf_Pct tag or set the value of Memory Boost in
the JSR instruction.
4.7.5 TrqMemKnifeBoostEnbl
When this tag is enabled, the Torque Memory Reference is increased by
TrqMemKnifeBoostRf_Pct.
Usage - Use this bit when an increase in the Torque Memory is needed. For
example, when the knife is firing to sever the web.
4.7.6 TrqMemKnifeBoostRf_Pct
When the Knife Torque Memory Boost is enabled, the captured Torque Feedback is
increased by the Knife Torque Memory Boost Reference Percent. This reference is a
percentage increase. For example, if TrqMemKnifeBoostRf_Pct is set to 10%, the
Torque Memory Reference will be 10% more than the Torque Feedback of the drive.
Usage - Connect to the TrqMemKnifeBoostRf_Pct tag or set the value of Memory
Boost in the JSR instruction.
Drive Application Software – page 30 of 52
FM – Tension Control
5.0 Setup/Configuration
5.1 Overview
All setup and configuration is done in the Main routine. The Tension Control Function Module
has five routines. The Function Module is connected to the balance of the application module
software by placing application tag names in the Jump to Sub-Routine (JSR) instructions of
the Main routine.
The JSR input parameter is looking for a specific type of tag for each input and return. It is
important that the application tag is the correct data type for the input. The most common
data types used by the function module are as follows:
1. Boolean (BOOL)
2. Floating point (REAL)
3. Integer (DINT)
If the user is entering a value instead of an application tag, the value needs to be of the same
type as the tag input. REAL input must be configured (entered) as x.x (1.0 = 1). If they are
not entered in this format the JSR will attempt to convert the value from and integer, this will
lead to errors in the program.
When the JSR instruction input parameters are configured with tags that are intended to be
tuned by the user at commissioning, it is recommended that the (z prefix) naming convention
be used for tags of this type.
5.2 Logic JSR Instruction
The Logic routine has two functions. The first function is to configure and setup the Function
Module for the application. To configure the Function Module place a 0 or 1 in the
configuration place holder of the JSR. To setup the function module place an appropriate tag
for the value requested in the JSR. The second function is to control the Function Module.
This is done by placing the appropriate tags into the JSR.
5.2.1 Input Parameters
5.2.1.1
CtrlEnbl – In 1
Enter a boolean tag for Control Enabled. This tag is set true to enable the trim
regulator. When set false, the trim regulator will ramp the output to zero.
5.2.1.2
Running – In 2
Enter a boolean tag for Drive Running. This tag is true when the drive is running
with the run velocity reference.
5.2.1.3
TenCntrl – In 3, DanCntrl – In 4, TrqCntrl – In 5
These three inputs determine the type of control regulator (Tension, Dancer, and
Torque). Only one of the three inputs should be on at a time. Enter a boolean tag
for the bits if they can dynamically change. If these are static values, then enter a
1 into the desired control type and a 0 for the other two.
5.2.1.4
TrqTrim – In 6, SpdTrim – In 7
These two inputs determine where the output of the trim loop is sent. Set one of
the inputs true. Set input 6 to a 1 for torque trim. Set input 7 to a 1 for speed trim.
Do not set both trim selections simultaneously.
5.2.1.5
TenZoneDwStream – In 8
Set high if the regulated tension zone is after the controlling section in the web
path. The following figure shows the tension zone for unwinds is always down
stream (set High) and the tension zone for winders is always upstream (set Low).
Drive Application Software – page 31 of 52
FM – Tension Control
+
+
+
Unwind
Winder
Unwind
Winder
Over
Under
Over
Under
TenZoneDwStream
1
1
0
0
ReverseRotation
0
1
0
1
Velocity Feedback
+
-
+
-
5.2.1.6
ReverseRotation – In 9 (Under Wind)
Set based on the material and machine configuration. Typically ReverseRotation
is the under wind selection. If the only mode of operation is under wind this may
be set low and the machine configured for positive rotation in under wind. See the
figure above for more information.
5.2.1.7
TrimHoldHigh – In 10
Typical applications will enter a zero (0). If an external hold is needed enter a
boolean tag for Logic-In10.
5.2.1.8
TrimHoldLow – In 11
Typical applications will enter a zero (0). If an external hold is needed enter a
boolean tag for Logic-In11.
5.2.1.9
TenRfStall – In 12
Enter a boolean tag for TenRfStall input parameter (Logic-I12). This tag switches
the tension reference to a reduced (stall) tension reference.
5.2.1.10
TrqFbJLoss – In 13
Set to 0 if the torque feedback from the drive does not include inertia and losses
torque components. Set to 1 if the torque feedback includes the inertia and
losses components. For the application module set this input to 1.
5.2.1.11
TrqMemEnbl – In 14
Enter a boolean tag to enable Torque Memory.
5.2.1.12
TrqFolwCtrl – In 15
Set to a 1 when the drive section follows the torque reference from another drive
(load share). Otherwise set this input to zero.
5.2.1.13
TenMax_EU – In 16
Enter a real tag that contains the maximum tension value. If the maximum
tension value is entered directly make sure to enter at least one digital after the
decimal point. (i.e. xxx.x)
5.2.1.14
RadiusCalculated_EU – In 17
Enter a real tag that contains the Radius of the driven roll in engineering units.
For winder/unwind applications this value typically comes from the diameter
calculator routine.
Drive Application Software – page 32 of 52
FM – Tension Control
5.2.1.15
GearRatio – In 18
Enter a real tag that contains the gear ratio. If the gear ratio is entered directly,
make sure to enter at least one digit after the decimal point.
5.2.1.16
MtrTorqRated_EU – In 19
Enter a real application tag that contains the Rated Motor Torque. If the rated
motor torque is entered directly, make sure to enter at least one digit after the
decimal point.
5.2.1.17
LineSpeedMax_EU – In 20
Enter a real tag that contains the Maximum Line Speed value. If the maximum
line speed is entered directly, make sure to enter at least one digit after the
decimal point.
5.2.1.18
J_sec – In 21
Enter a real tag that contains the system inertia in seconds. This typically is
produced by the JCalc routine.
5.2.2 Output Parameters
5.2.2.1
TenCtrlLogicStat – Ret 1
This output verifies that the Tension Control Logic Routine has accepted the
control inputs properly and is used to control the remaining Tension Control
Function Module routines.
5.2.2.2
TrqPerTen – Ret 2
This output is used for scaling the tension values to torque.
5.2.2.3
TrqPerLineSpdSec – Ret 3
This output is the amount of torque required to accelerate the present load one
percent (1%) of maximum speed.
5.2.3 Default Tags used in Drive Application Software
Drive Application Software – page 33 of 52
FM – Tension Control
5.3 Regulator JSR Instruction
5.3.1 Overview
The Tension Regulator is configured in the Setup/Logic Routine. This Subroutine is
responsible for the closed loop regulation of tension control.
5.3.2 Input Parameters
5.3.2.1
TenStpt_DC – In 1
Enter a real application tag that is used for tension reference. This input can be
referenced from any digital (panelview …) or analog source available. The value
will be internally scaled based on the TenStptMin_DC and TenStptMax_DC
parameters.
5.3.2.2
TenStptMin_DC – In 2, TenStptMax_DC – In 3
For TenStptMin_DC enter a real application tag that reflects the tension reference
zero percent (0%) value. Typically this value would be zero. For TenStptMax_DC
Enter a real application tag that stores tension reference 100% value.
See section 5.3.2.8
5.3.2.3
TenRfStall_Pct – In 4
Enter a real application tag for the stall tension reference value. If entering this
value directly into the JSR instruction, ensure that there is one significant digit
after the decimal point.
5.3.2.4
TenRfStallMin_Pct – In 5
Enter a real application tag for the minimum stall tension reference value. If
entering this value directly into the JSR instruction ensure that there is one
significant digit after the decimal point.
Drive Application Software – page 34 of 52
FM – Tension Control
5.3.2.5
TenRTaper_Pct – In 6
Enter the real application tag from the Taper Tension Reference JSR Instruction.
5.3.2.6
DanStpt_Pct – In 7
Enter a real application tag for the Dancer Set point reference. If entering this
value directly into the JSR instruction ensure that there is one significant digit after
the decimal point.
5.3.2.7
TenDanRfRate_PctSec – In 8
Enter a real application tag for the Reference Ramp Rate. If entering this value
directly into the JSR instruction ensure that there is one significant digit after the
decimal point.
5.3.2.8
TenDanFb_DC – In 9, TenDanFbMin_DC – In 10, TenDanFbMax_DC
– In 11
These parameters configure/scale the feedback. The feedback is scaled
internally from engineering units or counts to percent. The TedDanFbMin sets the
zero percent value of the feedback. The TenDanFbMax sets the one hundered
percent value of the feedback. The feedback and reference need to be scaled
such that they are equal.
Example: This example is for the trim regulator trimming tension with a load cell
feedback. The load cell generates a signal such that 0 lbs tension is equal to 1v
and 50lbs is equal to 10v. Set the drive's analog input two, such that ten volts
(10V) is equal to one hundred (100%), with this setting 1v will equal 10%. The
TenDanFbMin_DC value should be set to 10. The TenDanFb_max value should
be set to 100. With this configuration the tension reference needs to be scaled
such that one hundred percent is equal to 50 pounds of tension. If the tension
reference was sent to the routine as a number between zero and 50, than
TenRefStpt_Min_DC is set to 0 and TenREfStp_Max_DC is set to 50.
5.3.2.9
DrvTrqFb_PU – In 12
Enter a real application tag that aliases the Motor Torque Feedback
5.3.2.10
Trim_KP – In 13
Enter a real application tag that stores the Proportional Gain Value. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.11
TrimWld_Rad – In 14
Enter a real application tag that stores the Lead Value of the trim regulator. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.12
TrimLimSpd_Pct – In 15
Enter a real application tag that stores the Trim Limit Speed Pct. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.13
TrimLimSpdZero_Pct – In 16
Enter a real application tag that stores the Trim Limit Speed Zero. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.14
LineSpdTrimLimSpd_EU – In 17
Enter a real application tag that stores the Line Speed Trim Limit Speed in EU. It
is recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.15
TrimLimTrq_Pct – In 18
Enter a real application tag that stores the Trim Limit Torque Pct. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
Drive Application Software – page 35 of 52
FM – Tension Control
5.3.2.16
TrimRate_PctSec – In 19
Enter a real application tag that stores the Ramp Rate of the trim regulator. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.17
TrimFbWLead_Rad – In 20
Enter a real application tag that stores the Trim Feedback Lead frequency. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.18
TrimFbWLag_Rad – In 21
Enter a real application tag that stores the Trim Feedback Lag frequency. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.19
DrvTrqRfJLoss_PU – In 22
Enter the real application tag that stores the Inertia and Friction Compensation.
This tag usually is from the output of the JLossComp JSR Instruction.
5.3.2.20
LineSpd_EU – In 23
Enter a real application tag that contains the value of the line speed. This value
can come from a reference routine or from some other section.
5.3.2.21
LineSpeedMax_EU – In 24
Enter a real application tag that stores the Maximum Line Speed value. It is
recommended that this be an application tag rather than a direct entry into the
JSR instruction.
5.3.2.22
MtrSpdBase_RPM – In 25
Enter a real application tag that stores the Motor Base Speed. This value must
be the same value that is in parameter 4; Motor RPM. It is recommended that this
be an application tag rather than a direct entry into the JSR instruction.
5.3.2.23
Constant_RPMperEU – In 26
Enter the real application tag that contains the Rotary to Velcotiy Reference. This
tag is usually the tag from the DiamCalc.
5.3.2.24
BuildUpRatio – In 27
Enter the real application tag that contains the build up ratio. This tag is usually
the tag from the DiamCalc.
5.3.2.25
TrqRef_Pct – In 28
Enter the real application tag that contains Torque Reference.
If not used enter 0.0
5.3.3 Output Parameters
5.3.3.1
DrvSpdTrimRf_EU – Ret 1
Enter a real application tag to store the value of the taper tension percent. This
signal my be summed with the feed forward speed reference in engineering units.
5.3.3.2
DrvSpdTrimRf_PU – Ret 2
Enter a real application tag to store the value of the taper tension percent. This
signal is used to trim the speed reference at the drive. The value is in Per Unit.
5.3.3.3
DrvTrq_trimRf_PU – Ret 3
Enter a real application tag to store the value of the taper tension percent. This
signal is used to trim the torque reference at the drive. The value is in Per Unit.
5.3.3.4
DrvTrq_Mode – Ret 4
Enter a real application tag to store the value of the taper tension percent. This
value is used to configure the drives speed / torque mode. It is required for proper
operation of the tension control program. Write this value to the drives speed
torque mode selection parameter.
Drive Application Software – page 36 of 52
FM – Tension Control
5.3.3.5
TenRf_Pct – Ret 5
Enter a real application tag to store the value of the taper tension percent. This is
the scaled tension reference. May be used for display.
5.3.3.6
RegRf_Pct – Ret 6
Enter a real application tag to store the value of the taper tension percent. This is
the final tension / dancer / torque reference to the regulator.
5.3.3.7
RegFb_Pct – Ret 7
Enter a real application tag to store the value of the taper tension percent. This is
the actual feedback value used by the regulator
5.3.3.8
RegErr_Pct – Ret 8
Enter a real application tag to store the value of the taper tension percent. This is
the actual error of RegRf_Pct to RefFb_Pct as seen by the regulator.
5.3.4 Default Tags used in Drive Application Software
Drive Application Software – page 37 of 52
FM – Tension Control
5.4 TenRfTaper JSR Instruction
5.4.1 Input Parameters
5.4.1.1
DiamCalc_EU – In 1
Enter the Diameter Calculated tag from the Diameter Calculator Routine. This is
the first returned tag from the Diameter Calculator JSR instruction.
5.4.1.2
DiamFR_EU – In 2
Enter a real application tag that will store the value of Diameter Full Roll.
Drive Application Software – page 38 of 52
FM – Tension Control
5.4.1.3
DiamStrtTaper_EU – In 3
Enter a real application tag that will store the value of the diameter for taper
tension to begin.
5.4.1.4
TenRfTaperFR_Pct – In 4
Enter a real application tag that will store the value of the final taper tension
percentage.
5.4.2 Output Parameters
5.4.2.1
TenRFTaper_Pct – Ret 1
Enter a real application tag to store the value of the taper tension percent. This is
used in the tension regulator subroutine.
5.4.3 Default Tags used in Drive Application Software
5.5 TrqMem JSR Instruction
5.5.1
Input Parameters
5.5.1.1
TrqFB_PU – In 1
Enter a real application tag for the Torque Feedback from the drive. This
application tag should alias Drive: I.MotorTorqueRef.
5.5.1.2
DrvTrqRfJLoss_PU – In 2
Enter the real application tag associated with inertia and friction compensation.
Typically this tag is the output from the JLossComp JSR Instruction.
5.5.1.3
TrqMemBoostEnbl – In 3
Enter a Boolean application tag that is programmed to boost the torque reference
to the drive.
5.5.1.4
TrqMemBoosRf_Pct – In 4
Enter a real application tag that stores the Boost Reference value. When entering
this value directly at least one digit after the decimal is required i.e. RRR.R
Drive Application Software – page 39 of 52
FM – Tension Control
5.5.1.5
TrqMemKnifeBoostEnbl – In 5
Enter a Boolean application tag that is programmed to boost the torque reference
to the drive.
5.5.1.6
TrqMemKnifeBoostRf_Pct – In 6
Enter a real application tag that stores the Knife Boost Referefence. When
entering this value directly at least one digit after the decimal is required i.e.
RRR.R
5.5.2
Output Parameters
5.5.2.1
TrqRef_Pct – Ret 1
TrqRef_Pct is used in the Regulator routine when the section's Torque Memory is
enabled.
5.5.3 Default Tags used in Drive Application Software
Drive Application Software – page 40 of 52
FM – Tension Control
6.0 Tuning / Start Up
6.1 Installing the Application Module
Perform the following operations in the order listed to ensure proper signal connections between
the DriveLogix controller and the PowerFlex 700S firmware.
1. Download the RSLogix 5000 [.acd] file to the DriveLogix controller
2. Download the DriveExecutive [.dno] file to the PowerFlex 700S
Note, order of these events are critical as the DriveLogix controller must send the Peer
Communication format to the PowerFlex 700S firmware before the PowerFlex 700S will
accept all the configuration settings provided in the DriveExecutive file. Manually setting the
Peer Communication format in the drive will not be effective until configured in DriveLogix. If
this sequence of operation is not followed, the DriveLogix controller may not communicate
with the PowerFlex 700S.
6.2 Drive Tuning & Configuration
6.2.1 Drive Tuning
For basic commissioning of the application, the drive must first be tuned to regulate
the motor. The following steps will guide you through the basic requirements of drive
tuning when using an application module.
1. Set param 153 bit 8 high. This will set the start/stop control to 3 wire for
operation via the HIM. When the start up is complete this must be set to low for
2 wire operation from DriveLogix.
2. From the HIM, select the “Start-Up” function and follow the directions. In this
section you will perform the following steps.
a. Motor Control
i. FOC – for Induction Motor
ii. PMag – for Permanent Magnet Motor
b. Motor Data – Enter all motor data for the attached motor, check # poles
c. Feedback Config – Select feedback type
d. Pwr Circuit Diag
e. Direction Test – (NOTE, the motor will run) recommend always changing
wires and not software, this is for maintenance purposes, if the program
is restored it will default to the standard direction setting.
f. Motor Tests – (NOTE, the motor will run)
g. Inertia Measure – (NOTE, the motor will run)
h. Speed Limits
i. Select “+/- Speed Ref”
ii. Fwd Speed Limit
iii. Rev Speed Limit
iv. Abs Overspd Lim – Max over speed past the Fwd and Rev
Speed Limit. This is where the drive will fault
i. Do not complete the remainder of the Start-Up procedure in the drive
j. Scroll down to “Done/Exit”
3. Tune the speed regulator. Depending on the inertia of the machine and other
factors, the speed regulator bandwidth (p90) should be set for 15 to 50 radians.
4. Set param 153 bit 8 Low. This will set the start/stop control to 2 wire for
operation via DriveLogix
Drive Application Software – page 41 of 52
FM – Tension Control
6.2.2 Analog Input 2 (Default Config for AM)
After finishing the assisted start, the next step is to configure analog inputs. Analog
Input two is default aliased to the DanTenFB_DC tag in the the drivelogix controller.
The feedback is scaled such that ten volts equates to 100 percent.
Tension Feedback Example: This example is for the trim regulator trimming tension
with a load cell feedback. The load cell generates a signal such that fifty pounds
(50lbs) is equal to ten volts (10V).
Follow the Load cell manufacture's guidelines for setting up the load cell. The
following is typical start up procedure.
For a PowerFlex 700S
1. With no external force on the load cell (just the deadweight of the roll), zero the
load cell output and verity that p806 [Analog In2 Data] is zero. Adjust p809
[Analog 2 Offset] accordingly.
2. Apply the maximum line running weight in the machine path. Adjust the load
cell's output to get 10 volts. Adjust p808 [Analog 2 Scale] such that p806 [Analog
2 Data] is equal to 100.
3. Remove the known weight and verify the load cell is sending 0 volts.
With the drive's analog input scaled such that ten volts (10V) is equal to one hundred
(100%). TenDanFbMin_DC is set to zero (0). TenDanFb_max is set to one hundred
(100). Therefore the tension reference needs to be scaled such that one hundred
percent is equal to fifty pounds. If the tension reference was sent to the routine as a
number between zero and fifty, then TenRefStpt_Min_DC is set to zero (0) and
TenREfStp_Max_DC is set to fifty (50).
Dancer Feedback Example: This example is for the trim regulator trimming dancer
position. The Dancer Feedback is wired to the drive's analog input two. The zero
storage position is when the material would be tight. The full storage position is when
the material would be slack.
For a PowerFlex 700S
1. Move the dancer to the zero storage position. Verify that p806 [Analog In2 Data]
is zero. Adjust p809 [Analog 2 Offset] accordingly.
2. Move the dancer to the full storage position. Verify that p806 {Analog In2 Data}
is one hundred (100). Adjust p808 accordingly.
6.3 Trim Regulator Gains
The trim regulator consists of a simple Proportional – Integral (PI) regulator with a lead-lag
filter in the feedback path. The values for integral, proportional, lead and lag are entered
through the application tags.
6.3.1 Bandwidth
There are many definitions of Bandwidth. The definition that this manual follows is
the time response to reach 63% of the final value.
Drive Application Software – page 42 of 52
FM – Tension Control
6.3.2 Trim_KP
The Trim_KP is the proportional term of the PI. The PI Regulator Error is multiplied
by tis value. It is scaled such that a value of one, would produce 100% output of the
regulator when there is 100% error. If the reference was 100% and the feedback
was 0%, than the error would be 100%.
Notice that the step response does not reach its final value. This is known as steady
state error.
Typically this value is increased until the trim regulator appears to be unstable and
then is backed off 30%.
effects of KP
1
KP=10
KP=1
KP=0.1
0.9
0.8
0.7
amlitude
0.6
0.5
0.4
0.3
0.2
0.1
0
0
10
20
30
40
50
60
time in seconds
70
80
90
100
6.3.3 Trim_wld
The Trim_wld term is the lead frequency for the PI regulator. The term wld is
(integral Gain/proportional gain). This term affects the steady state error of the
regulator. The above plot only has KP, therefore there is a steady state error.
Typically after the KP term is set, than the wld term is increased untill the desired
steady state response is achieved.
Drive Application Software – page 43 of 52
FM – Tension Control
Affects of wld
1.6
wld=0.1
wld=1.0
wld=0.0
wld=0.03
1.4
1.2
amplitude
1
0.8
0.6
0.4
0.2
0
0
10
20
30
40
50
time
60
70
80
90
100
6.3.4 TrimFbWLead_Rad
This the Lead frequency in rad/second of the feedback filter. It is typically set to the
speed loop bandwidth (p97 in the PowerFlex 700S) to cancel the lag effect of the
velocity loop.
6.3.5 TrimFbWLag_Rad
This is the Lag frequency in rad/second of the feedback filter. It is typically set to five
times the lead frequency set above.
Step Response
1
comp
uncomp
0.9
0.8
Amplitude
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
Drive Application Software – page 44 of 52
0.2
0.4
0.6
Time (sec)
0.8
1
1.2
FM – Tension Control
6.4 Dancer Regulation
6.4.1 Trimming Speed:
The TrimLimSpd_Pct is the maximum output of the trim regulator when the line
speed is at maximum. This value should typically be ten percent. When the line
speed is zero the TrimLimSpdZero_Pct is the maximum output of the trim regulator.
This value is typically set to one percent. This allows the trim regulator to operate
even though the line velocity is at zero.
When the Trim Regulator is trimming speed, the following calculations will give the
user a starting point for the various gains. The output of the trim regulator should be
limited to about ten percent.
There are some specific starting points for dancer regulation. To calculate these
gains there are some specific information that is required. The first piece of
information required is the amount of material that the dancer can store. The user
can usually determine this information from the mechanical drawings. An empirical
method, is to measure the distance traveled by the "swing roll" and multiply by two.
All data for the following calculations must be entered in like units (Imperial or Metric).
A. Amount of material stored in linear measurement:-______________
Units must be the same as the linear measurement in line “B”
Convert the tag value of LineSpeedMax_EU into the units of linear
measurement/second. Example: If the tag units are feet/min then divide by 60 to get
feet/second.
B. Linear Speed/Second:_________________________
C. Dived line “A” by “B”, Pbar = _____________ in seconds
D. Enter the desired Bandwidth for the Dancer Regulator, BW = _________rad/sec
This is typically 1/5th the bandwidth of the speed regulator.
E. Multiply line “C” by “D” (Pbar*BW) to Solve for TrimKP = ___________
F. Trim_wld=TrimKP/zeta
(zeta) is typically set for 1, a setting less than 1 will cause more overshoot, and a
value greater than 1 will have less overshoot (increased dampening).
G. TrimFB_wld=p97 system bandwidth from the PowerFlex 700S
H. TrimFB_wlg=5*TrimFB_wld
After the initial values are set, the user may have to adjust (tune) these initial values
for desired performance.
6.4.2 Trimming Torque
When the regulator is trimming torque, the TrimTorqueLimit is typically set to 10%.
The user will need to begin by setting the TrimFB_wld and TrimFB_lag to 10. The
Trim_wld term is set to zero. The user should increase the TrimKP term until the
system appears to oscillate and then reduce the TrimKP by 50%. At this point, there
will be a steady state error. Adjust Trim_wld to decrease the steady state error.
Begin decreasing the TrimFB_wld from 10 to 5 to 1 until the desired response is
achieved.
Drive Application Software – page 45 of 52
FM – Tension Control
6.5 Tension Regulator
6.5.1 Trimming Speed:
The TrimLimSpd_Pct is the maximum output of the trim regulator and is based on the
maximum line speed. This value should typically be 5 to 10 percent. When the line
speed is zero the TrimLimSpdZero_Pct is the maximum output of the trim regulator.
This value is typically set for 1 to 2 percent. This allows the trim regulator to operate
even though the line velocity is at zero.
There is not a simple formula for calculating the starting gains for tension regulation.
The user should start by setting the TrimFB_wld and TrimFb_wlg equal to each other.
This will cancel the effect of the feedback lead lag filter.
Begin the tuning process by increasing TrimKP until the system becomes oscillatory.
Once the system becomes oscillatory, you will need to reduce TrimKP to 70% of the
value. After TrimKP is set adjust Trim_Wld until the steady state performance is
satisfactory.
6.5.2 Trimming Torque
When the tension regulator is trimming torque, the TrimLimTrq_Pct is set typically for
10 to 20 percent.
The user should start by setting the TrimFB_wld and TrimFb_wlg equal to each other.
This will cancel the effect of the feedback lead lag filter.
Begin the tuning process by setting the Trim_wld term to zero. Increase the TrimKP
term until the system appears to oscillate and then reduce the TrimKP by 50%. At
this point, there will be a steady state error. Adjust Trim_wld to decrease the steady
state error. Begin decreasing the TrimFB_wld from 10 to 5 to 1 until the desired
response is achieved.
Drive Application Software – page 46 of 52
FM – Tension Control
Appendix A - Process Line Command & Status Words
The following table is a functional list of the Process Line command word
[wDLx_DrvCmmdProcLn]
Bit
00
01
02
03
04
05
07
Input Signal
Clear Fault
Run (2 Wire)
Reserved
Coast Stop
Jog Forward
Jog Reverse
Reverse Rotation (Under
Wind)
Tension Control Enable
08
Stall Tension
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
Tension Control
Torque Control
Dancer Control
Torque Trim
Speed Trim
Draw Trim Off
Torque Follower Control
Diam Preset 1
Diam Preset 2
Diam Preset 3
Diam Preset Increase
Diam Preset Decrease
Diam Calc Increase Enable
Diam Calc Decrease Enable
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Torque Mem Enable
30
Torque Mem Boost Enable
31
Torque Mem Knife Cut
06
Description
Clear all Faults
1 = Start, transition to 0 = Stop
not supported in rev 110101
Jog in Forward direction
Jog in Reverse direction
Under wind selection
Activates selected mode of Tension Control
User determines how and when to activate
Stall Tension
Selects Tension Control Mode - Tension
Selects Tension Control Mode - Torque
Selects Tension Control Mode - Dancer
Selects Trim type – Torque is trimmed
Selects Trim type – Speed is trimmed
Zeros the Draw trim signal
Special Control mode for torque follower
Commands preset 1 for Diam Calc
Commands preset 2 for Diam Calc
Commands preset 3 for Diam Calc
Manual increase for Diameter Calc
Manual decrease for Diameter Calc
Releases Diameter Clac for Increase
Releases Diameter Calc for Decrease
Memorizes running torque
Boosts the memorized torque by user set
percentage.
Boosts the memorized torque by user set
percentage.
Drive Application Software – page 47 of 52
FM – Tension Control
The following table is a functional list of the Process Line status word
[DLx_DrvStatProcLn]
Bit
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
Output Signal
Fault
Running
Reserved
Motor Ctrl On
Reserved
Jogging
Rotational Reverse
Tension Control On
Zero Speed
Diameter Calculation Active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Enable Loss Fault
Fail to Run fault
Communication fault
Message fault
Motor Overload Fault
Motor Overtemperature Flt
Motor Blower Loss Fault
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
30
Operate Permissive
31
On Permissive
Drive Application Software – page 48 of 52
Description
Drive Fault or a System Fault
Drive is Running / not stopping
Motor is being control (Motor POWER)
section Jogging
Under Wind
Selected mode of Tension control is enabled
Below Zero Line speed set point
Future
Drive Enable lost
Drive failed to start
NA – not support
NA – not support
Overload alarm from drive
Over temperature alarm from drive
Motor blower has stopped or tripped off
Use in line control logic to command a
coordinated line ramp stop.
Loss of permissive resets start command.
The drive will coast stop or ramp stop
depending on configuration
FM – Tension Control
Appendix B - Block Diagram
Drive Application Software – page 49 of 52
FM – Tension Control
Appendix C - Parameter (Tag) Table
Input Tags for Tension Control Function Module
Name
Type Source Tag
from Routine
Default
Logic – Routine
CtrilEnbl
Bx
wDLx_DrvCmmdProcLn.7
NA
0
Running
Bx
wDLx_DrvCmmdProcLn.1
NA
0
TenCtrl
Bx
wDLx_DrvCmmdProcLn.9
NA
0
TrqCtrl
Bx
wDLx_DrvCmmdProcLn.10
NA
0
DanCtrl
Bx
wDLx_DrvCmmdProcLn.11
NA
0
TrqTri,
Bx
wDLx_DrvCmmdProcLn.12
NA
0
SpdTrim
Bx
wDLx_DrvCmmdProcLn.13
NA
0
TenZoneDwStream
Bx
zDLx_TenZoneDwStream
NA
0
0
ReverseRotation
Bx
DLx_DrvStatProcLn.6
LogicAndReference –
Logic
TrimHoldHigh
Bx
constant
NA
0
TrimHoldLow
Bx
constant
NA
0
TenRfStall
Bx
wDLx_DrvCmmdProcLn.8
NA
0
TrqFbJLoss
Bx
constant
NA
1
TrqMemEnbl
Bx
wDLx_DrvCmmdProcLn.29
NA
0
TrqFolwCtrl
Bx
wDLx_DrvCmmdProcLn.15
NA
0
TenMax_EU
R x.x
zDLx_TenMax_lb
NA
50.0
RaduisCalc_EU
R x.x
DLx_RadiusCalc_ft
DiamCalc
NA
GearRatio
R x.x
zDLx_GearRatio
NA
5.0
NA
MtrTrqRated_EU
R x.x
DLx_MtrTrqRated_lbft
CalcAndDisplay – Main or
User Programming
LineSpdMax_EU
R x.x
zDLx_LineSpdMaxFPM
NA
J_Sec
R x.x
DLx_J_Sec
JLossComp
500.0
NA
Regulator – Routine
TenStpt_DC
R x.x
wDLx_TenStpt_DC
NA
0.0
TenStptMin_DC
R x.x
zDLx_TenStptMin_DC
NA
0.0
TenStptMax_DC
R x.x
zDLx_TenStptMax_DC
NA
100.0
TenRfStall_Pct
R x.x
zDLx_TenRfStall_Pct
NA
10.0
TenRfStallMin_Pct
R x.x
zDLx_TenRfStallMin_Pct
NA
5.0
TenRfTaper_Pct
R x.x
TenRfTaper_Pct
TenRfTaper – Routine
NA
DanStpt_Pct
R x.x
zDLx_DanStpt_Pct
NA
50.0
TenDanRfRate_PctSec
R x.x
zDLx_TenDanRfRate_PctSec
NA
10.0
TenDanFb_DC
R x.x
wDLx_TenDanFb_DC
NA
0.0
TenDanFbMin_DC
R x.x
zDLx_TenDanFbMin_DC
NA
0.0
TenDanFbMax_DC
R x.x
zDLx_TenDanFbMax_DC
NA
100.0
DrvTrqFb_PU
R x.x
DLx_DrvTrqFb_PU
p303 – Motor Torque Ref
NA
TrimKp
R x.x
zDLx_TrimKp
NA
1.0
TrimWld_Rad
R x.x
zDLx_TrimWld_Rad
NA
10.0
TrimLimSpd_Pct
R x.x
zDLx_TrimLimSpd_Pct
NA
5.0
TrimLimSpdZero_Pct
R x.x
zDLx_TrimLimSpdZero_Pct
NA
2.0
LineSpdTrimLimSpd_EU
R x.x
zDLx_LineSpdTrimLimSpd_FPM NA
1.0
Drive Application Software – page 50 of 52
User
Value
FM – Tension Control
Name
Type Source Tag
from Routine
Default
User
Value
Regulator – Routine (continued)
TrimLimTrq_Pct
R x.x
zDLx_TrimLimTrq_Pct
NA
15.0
TrimRate_PctSec
R x.x
zDLx_TrimRate_PctSec
NA
10.0
TrimFbWLead_Rad
R x.x
zDLx_TrimWldFb_Rad
NA
60.0
TrimFbWLag_Rad
R x.x
zDLx_TrimWlgFb_Rad
NA
50.0
JLossComp_Imp_FM –
Main (JLossComp)
LogicAndReference –
RunJogSpdRf
DrvTrqRfJLoss_PU
R x.x
DLx_DrvTrqRfJLoss_PU
LineSpd_EU
R x.x
DLx_LineSpdRf_FPM
LineSpdMax_EU
R x.x
zDLx_LineSpdMax_FPM
NA
MtrSpdBase_RPM
R x.x
DLx_MtrSpdBase_RPM
CalcAndDisplay – Main
NA
Constant_RPMperEU
R x.x
DLx_Constant_RPMperFPM
CalcAndDisplay – Main
NA
0.0
NA
500.0
DiamCalc_Imp_FM –
Main (DiamCalc)
TenCtrl_FM – Main
(TrqMem)
BuildUpRatio
R x.x
DLx_BuildUpRatio
TrqRf_Pct
R x.x
TrqRf_Pct
DiamCalc_EU
R x.x
DLx_DiamCalc_in
DiamCalc_Imp_FM –
Main (DiamCalc)
NA
DiamFR_EU
R x.x
zDLx_DiamFR_in
NA
30.0
DiamStrtTaper_EU
R x.x
zDLx_DiamStrtTaper_in
NA
6.0
TenRfTaperFR_Pct
R x.x
zDLxTenRfTaperFR_Pct
NA
50.0
R x.x
DLx_DrvTrqFb_PU
p303 – Motor Torque Ref
NA
DLx_DrvTrqRfJLoss_PU
JLossComp_Imp_FM –
Main (JLossComp)
NA
NA
NA
TenRfTaper – Routine
TrqMem – Routine
TrqFb_PU
DrvTrqRfJLoss_PU
R x.x
TrqMemBoostEnbl
Bx
wDLx_DrvCmmdProcLn.30
NA
0
R x.x
zDLx_TrqMemBoostRf_Pct
NA
0.0
wDLx_DrvCmmdProcLn.31
NA
TrqMemBoostRf_Pct
TrqMemKnifeBoostEnbl
TrqMemKnifeBoostRf_Pct
Bx
R x.x
zDLx_TrqMemKnifeBoostRf_Pct NA
0
0.0
Drive Application Software – page 51 of 52
www.rockwellautomation.com
for Drive Application Software www.ab.com/drives/drvappsw
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Publication: 9329-RM002B-EN-E – March 2003
Supersedes: First Release
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