9199-00003 A6210 A6220 Emerson Control Card EPRO

Description

In normal, local, A6210 and calibrate modes, the Servo Driver is always controlling valve

position. The PI routine runs unconditionally every 10 milliseconds. Typically, it

will execute the PI equation as described below. The PI routine has some

conditionally executed parts to handle seating and backseating.

Seating and backseating algorithms are implemented on the Servo Driver module.

Seating is in effect when the position A6210 demand is equal to or less than 0%, and actual

position feedback is less than 5%. In the Servo Driver, the demand value that signals

seating is programmable, but defaults to 0%. In addition to seating the valve, the

Servo Driver reduces current flflow through the valve. When seating is in effect, the

output is driven to the maximum possible value in the direction that closes the valve.

A timer is started. After 10 seconds the output is reduced to 50% of the maximum

value in the direction that closes the valve.

A similar limit and function is provided for backseating.

The Servo Driver runs diagnostics to ensure that the circuit is operating properly.

When a problem is detected, a number of things A6210 may occur. If the error is considered

to be a severe fatal error, the card will “dive.” This means that the output circuit will

de-power, and the on-board processor will “idle.” For some fatal errors, the

processor will be reset. Word register E in the serial bus shared memory contains

important severe fatal error bits.

Other problems may cause a restriction bit to be set. Restriction bits prevent the

module from changing modes. During startup, each mode uses a bit mask to

determine if errors exist that would prevent the mode change. As the mode advances

from start, to local, then to normal, the A6210 restriction mask has fewer and fewer bits set.

During restart, there is a 20 second time delay to allow the oscillator to stabilize.

Diagnostics are run during this delay. The EPROM checksum is fully calculated.

The EPROM checksum is calculated completely on restart. After restart, the

checksum program is called during idle time. Each call to the checksum adds one

word to the sum.

A failure of any memory to read back correctly is considered a severe fatal error.

The memory check routine accesses memory in the PSD302 chip, on-chip memory,

and serial bus shared memory.

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