Rockwell Automation 20B PowerFlex 700 AC Drives Vector Control (v4.001 and up) - Manual (Page 127)

Rockwell Automation Publication 20B-UM002G-EN-P - July 2014 127
Application Notes Appendix C
Encoder Incremental Blend (EncIncrBlend)
When started, the drive will ramp to the desired velocity and hold speed until the
units of travel programmed is reached (within tolerance window). The profile
will then transition to the next step and the drive will ramp to the speed of the
new step without first going to zero speed.
Encoder Incremental Blend with Hold
This profile is the same as the previous, but contains the “Hold” function. While
“Hold” is applied, the step transition is inhibited. When released, the step can
then transition if the conditions to transition are satisfied.
Parameter Level (Param Level)
When started, the drive will ramp to the desired velocity, hold speed and
compare the parameter value of the parameter number programmed in [Step
Value] to the [Step Dwell] level. The sign of the [Step Value] defines “less than or
greater than” [Step Dwell]. When true, the profile will transition to the next step.
End
The drive ramps to zero speed and stops the profile. It clears the current step bits
and sets the “Complete” bit (14) in [Profile Status], parameter 700.
Position Regulated Step Types and Parameters
Each of the Position Regulated steps has the following associated parameters or
functions:
Encoder Absolute
This is a move to an absolute position, which is referenced from the home
position. When started the drive ramps to the desired velocity in the direction
required, holds the speed, then ramps to zero speed landing or ending at the
commanded position within the tolerance window.
Step Type Value Velocity Accel
Time Decel
Time Next Step
Condition Dwell Batch Next
Encoder
Absolute Position &
Direction Speed Accel
Rate Decel
Rate At Position Dwell
Time NA Next
Step
Encoder
Incremental Position &
Direction Speed Accel
Rate Decel
Rate At Position Dwell
Time Batch
Number Next
Step
End Hold
Position NA NA NA NA At Position Dwell
Time NA Stop
NA = Function not applicable to this step type