Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 295)

Rockwell Automation Publication 750-RM002B-EN-P - September 2013 295
Drive Features Chapter 5
holding zero velocity; the drive then transfers velocity reference back to its
previous source once it receives a start command.
Homing to Switch and Marker Pulse with Feedback
Upon activation of homing the drive starts moving in Speed Control mode, and
ramp to the speed and direction set in P735 [Find Home Speed] at the rate set in
P736 [Find Home Ramp]. As the motor moves toward the limit/proximity
switch, the marker pulse is triggering a register on the feedback module to latch
the current position count. When the limit/proximity switch is reached the
“Homing Input” is set. The last maker pulse position count that was latched prior
to the “Homing Input” being set is considered the home position count. The
drive then ramps to zero at the rate set in P736 [Find Home Ramp]. The drive
then performs a point-to-point position move back to the home position count
in speed of 1/10 of P735 [Find Home Speed]. When the motor is “At Position”
and “At Zero Speed”, the homing sequence completes.
NOT Hold At Home, P731 Bit 7
If a position control type mode is selected in P313 [Actv SpTqPs Mode] the drive
continues running, holding position, and transferring position reference back to
its previous source. If velocity control type mode is selected in P313 [Actv SpTqPs
Mode] the drive continues running holding zero velocity and transferring
velocity reference back to its previous source.
Hold At Home, P731 Bit 7
If a position control type mode is selected in P313 [Actv SpTqPs Mode] the drive
continues running, holding position; the drive then transfers position reference
back to its previous source once it receives a start command. If velocity control
type mode is selected in P313 [Actv SpTqPs Mode] the drive continues running
Position Position
Pt-Pt Control
Marker
Speed Control
Find Home Speed
Speed