Speed Limited Adjustable Torque (Slat) - Allen-Bradley Kinetix 5500 User Manual
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Speed Limited Adjustable
Torque (SLAT)
Speed limited adjustable torque (SLAT) is a special mode of operation used
primarily in web handling applications. While configured for SLAT, the drive
typically operates as a torque regulator. The drive can automatically enter velocity
regulation based on conditions within the velocity regulator and the magnitude
of the velocity regulator's output, relative to the applied TorqueTrim attribute.
A torque regulated application can be described as any process requiring tension
control. For example, a winder or unwinder with material being drawn or pulled
with a specific tension required. The process also requires that another element
set the speed.
When operating as a torque regulator, the motor current is adjusted to achieve
the desired torque. If the material being wound or unwound breaks, the load
decreases dramatically and the motor can potentially go into a runaway
condition.
The SLAT feature is used to support applications that require a robust transition
from torque regulation to velocity regulation (and vice versa). The SLAT feature
can be configured via the SLATConfiguration attribute as:
Table 96 - SLAT Configuration Descriptions
Name
Description
SLAT Disable
SLAT function is disabled. Normal Velocity Loop operation.
Drive automatically switches from Torque regulation to Velocity regulation if VelocityError
SLAT Min Speed/Torque
< 0 and switch back to Torque regulation if VelocityError > SLATSetPoint for
SLATTimeDelay.
SLAT Max Speed/Torque Drive automatically switches from Torque regulation to Velocity regulation if VelocityError
> 0 and switches back to Torque regulation if VelocityError < SLATSetPoint for
SLATTimeDelay.
Direction of the applied torque and direction of the material movement
determine whether SLAT minimum or SLAT maximum mode should be used.
Rockwell Automation Publication 2198-UM001F-EN-P - December 2015
Motor Control Feature Support
Appendix D
249
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