Rockwell Automation 20B PowerFlex 700 AC Drives Vector Control (v4.001 and up) User Manual
Page 73
Rockwell Automation Publication 20B-UM002G-EN-P - July 2014
73
Programming and Parameters
Chapter 1
POS/SPD PROFILE
P
ro
fSetup
/Sta
tus
713 [Find Home Speed]
Sets the speed and direction that are active when
“Find Home” of [Pos/Spd Prof Cmd] is active. The
sign of the value defines direction (“+” =
Forward, “–” = Reverse).
Default:
Min/Max:
Units:
+10.0% of [Maximum Speed]
–/+50.0% of [Maximum
Speed]
0.1 Hz
0.1 RPM
714 [Find Home Ramp]
Sets the rate of acceleration and deceleration of
the Find Home moves.
Default:
Min/Max:
Units:
10.0 Secs
0.0/3600.0 Secs
0.1 Secs
718 [Pos Reg Filter]
Sets the error signal filter in the position
regulator.
Default:
Min/Max:
Units:
25.0
0.0/500.0
0.1
719 [Pos Reg Gain]
Sets the gain adjustment for the position
regulator.
Default:
Min/Max:
Units:
4.0
0.0/200.0
0.1
Pro
file St
ep 1-
16
720
730
740
750
760
770
780
790
800
810
820
830
840
850
860
870
[Step 1 Type]
[Step 2 Type]
[Step 3 Type]
[Step 4 Type]
[Step 5 Type]
[Step 6 Type]
[Step 7 Type]
[Step 8 Type]
[Step 9 Type]
[Step 10 Type]
[Step 11 Type]
[Step 12 Type]
[Step 13 Type]
[Step 14 Type]
[Step 15 Type]
[Step 16 Type]
Selects the type of move for a particular step.
Default:
Options:
1
0
1
2
3
4
5
6
7
8
“Time”
“End”
“Time”
“Time Blend”
“Dig Input”
“Encoder Incr”
“EncIncrBlend”
“Encoder Abs”
“End Hold Pos”
“Param Level”
The following step types use the velocity regulator only:
“End” (0) - drive ramps to zero speed and stops the profile after the programmed dwell time.
“Time” (1) - drive ramps to [Step x Velocity], holds speed and decels to zero in specified [Step x
Value] time.
“Time Blend” (2) - drive ramps to [Step x Velocity], and holds speed until [Step x Value] time
completes, then transitions to step defined in [Step x Next].
“Dig Input” (3) - drive ramps to [Step x Velocity], holds speed until input specified in [Step x
Value] transitions in the direction defined by sign of [Step x Value].
“EncIncrBlend” (5) - drive ramps to [Step x Velocity], holds speed, when at encoder position
defined by [Step x Value] within tolerance window transition to [Step x Next].
“Param Level” (8) - drive ramps to [Step x Velocity], holds speed, and compares [Step x Value] to
[Step x Dwell]. The sign of [Step x Value] (“+”= >, “-” = <) determines when to transition [Step
x Next] and compares [Step x Dwell] to the value specified by the parameter number in [Step x
Value].
The following step types use the point-to-point position regulator:
“Encoder Incr” (4) - drive ramps to [Step x Velocity], holds speed then ramps to zero at encoder
position defined by [Step x Value] within position tolerance window.
“Encoder Abs” (6) - drive ramps to [Step x Velocity], in direction required, holds speed, then
ramps to zero at position within tolerance window.
“End Hold Pos” (7) - drive holds last position for [Step x Dwell] time then stops.
The drive must have [Direction Mode] set to “Bipolar” for the position regulator to function
properly. Current, Torque and Regen Power Limits must be set so as not to limit the programmed
deceleration time. If one of the limits occur, the position regulator can overshoot the position set
point. Sleep Mode must be turned off.
Fil
e
Gr
oup
No
.
Parameter Name & Description
See
page 16
for symbol descriptions
Values
Rela
ted