Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 387)

Rockwell Automation Publication 750-RM002B-EN-P - September 2013 387
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6
Position Control - Reference
784
767
Psn Direct Ref
PTP
Command
771
PTP Mo
de
Psn Re
f
Se
lec
t
765
Index
Absolute Posit
ion
P
rofiler
In
dex
Posit
ion
Step 1-16 Values
Profiler
12
13
0-
4
8
St
rStepSe
l0-4
Hold S
tep
Profile
Command
77
0
1
Move
770
2 3
Rev
erse M
ove
P
reset P
sn
Actv SpTqPs Mode 0
78
6
78
5
78
2
PTP Accel
Time
PTP Decel T
ime
P
T
P Fwd Vel Lmt
787
PTP S
Curve
PTP
Ref Scale
Direct Position Reference Selection
Pt-Pt Position
Refer
e
nce & Inter
p
reter
Pt
-Pt Position Planner
Position Mode
Selection
779
PTP Index
Preset
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
140 142
Ac
tv
Sp
TqPs Mode
10
R
estart
Step
Psn Selected
Ref
PTP
Con
tr
ol
PTP
Con
tr
ol
78
1
PTP
Rev Vel Lmt
78
8
PTP Vel
Override
Profiler Reference & Interpreter
Step
1
-16
D
w
ell
Step 1-16 Batch
Step 1-16 Next
Step 1
-16
Action
X
77
8
770
0 4
Vel O
verride
5
R
ef Paus
e
Intgrtr Hold
PTP Control
0 1 2
776
1 0 2 3 4 5 6 7
10
≠0,1,2,3,4,5
774 773 772
DI In
dx Step
DI In
dx StepRev
DI Indx StepPrst
783
PTP Sp
eed
FwdRef
PTP
Reference
8
PC
AM Planne
r
PCAM Planner
1407 140
8
PCAM Main
Pt X
0...15
PCAM Main
Pt Y
0...15
1
406
PC
AM Main Typ
e
s
13
91
PCAM Mode
1472 14
73
PCAM Vel
Out
PCAM Psn Out
PLL Planner
PL
L
Control
80
7
PLL Speed Out
80
9
PLL Enc Out
808
PLL Speed OutAdv
81
0
PLL Enc Out Adv
9
766
6
0,
1,
2,
3,
4,
5,
10 7 8 9
Spd FF To Spd
Re
f
[7G4]
722
Position Control –
R
eference
Abso
lute
Ab
solute Im
media
te
Ps
n Direc
t Stpt
Virtual EncDel
ay
Virtua
l Enc P
sn
Pro
filer
PsnP
TP
0
PTP PsnRefStatus
1
Z
eroFF
SpdRef
P
TP Int
Hold
2
Sp
dFFRe
f En
3
R
ef Com
plete
S Curve
Ps
n
D
ire
c t
Ps
n PLL Ps
n
Cam
ming
Psn PT
P
Sum
SLAT Max SL
AT Min
T
orque R
eg
Spe
ed Reg
Zero T
orque
Spd Ref Profile
r
Psn PTP
Ps
n
Cam
ming
Psn PLL
313
313
PTP Ref Sel
77
5
Other Ref
Sources
PTP Setpoint
P
arame
ter
Selecti
on
780
PLL Ext Spd Sel
79
6
Oth
e
r Re
f
Sources
PLL Ext Spd Stpt
Par
ameter
Se
lection
797
PLL Psn
Ref Sel
79
9
Other Ref
Sources
PLL Psn
Stpt
Param
eter
Sele
ction
800
PCAM Psn Select
1392
Other Ref
Sources
PCAM
Psn Stpt
Param
eter
Sele
ction
1393
To Posit
Re
g
[12A
1]
[23D5]
[1
5G2]
[15G2] [14H3] [14H4] [14H3] [14H4]
[16H3], [17H2]
[23D5]
[7H2] [7H2]
0
G
ear Ra
t
[ N
]
[ D
]
X
789
PTP E
G
R
Mult/Div
790 P
arame
ter
Selectio
n
847
Psn Fd
bk
Other Ref
Sources
[3H4]
720
12
34
1244
1384
123
5
1245
138
5
123
6
1246
138
6
123
7
1247
138
7
123
8
1248
138
8
Cha
nge
1
Home
Enabled
F
rom
Hom
ing
[1
7H2]
73
0
Homing Status
PTP
Referenc
e
[P776],
PTP Feedback
[P777],
PTP
Comm
and
[P784] are
loa
ded
with
Psn Actual
[P836].
Point to Point parameter initializations
performed with Po
sition Regulator
IN
ACTIVE
777
PTP Feedback
Vir
tual
Enc
oder
PF
755 Rev
_9.
Pag
e 1
Coarse Pos Tr
gt
From Motion
Planner
In
ter
pola
to
r
76
0
In
te
rp Vel Out
75
9
In
te
rp Psn Ou
t
Interpolator
76
1
Interp Trq Out
361 Controller
Position Command –
F
loat
362 Controller Ve
locity Comma
n
d
364 Controller Torque Command
365 Position Fine
Command
430 Posit
ion Command
366 Velocity Fine
Command
450 Velocity Command
[5
A1
]
490 Torque
Command
11
Ps
n Spindl
e Orien
t