Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 393)

Rockwell Automation Publication 750-RM002B-EN-P - September 2013 393
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6
Position Control - Profiler/Indexer (Sheet 2) / Position Control - Homing
Ty
pe = Po
sition A
bs
olute
(P
osi
t Abs)
Action Posit
Blend
Tim
e
Ble
n d
Param Ble
n
d
Digin Blend
(+/-
) Wait
Digin
Step to Nex
t
En
d
Velo
cit
y
M
ove
ve
l
N
/A
N
/A
N
/A
M
ove
ve
l
M
ove
ve
l
N
/A
Accel
M
ove
a
cc
e l
N
/A
N
/A
N
/A
M
ove
a
cce
l
M
ove
a
cce
l
N
/A
Decel
M
ov
e
de
ce
l
N
/A
N
/A
N
/A
M
ov
e
d ece
l
M
ov
e
d
ece
l
N
/A
Valu
e
A
bso
lu
te
Ta
rget
p
os
N
/A N
/A
N/
A
Abs
ol
ut
e
Tar
g
et
p
os
Abs
ol
ut
e
Tar
g et
p
os
N/A
Dwell
N
/A
N/
A
N/
A
N
/A Dw
ell
Tim
e
Dw
ell
Tim
e
Dw
ell
Ti
m
e
Batch
N
/A
N/
A
N/
A
N
/A
N/A N/A N/A
Next
N
ext S
te
p
N
/A
N
/A
N
/A
N
e xt S
tep
N
e xt
S
tep
N
/A
Next S
tep
Co
ndition
Pos
iti
on >
Val
ue
N/
A
N/
A
N
/A DigIn
tra
nsiti
on
Pos
iti
on >
Val
ue
Re
st
ar
t
In
de
xe
r
D
igI
n #
N
/A N/
A
N/
A
N
/A
Digin
#
N/A
N/A
Ty
pe = Po
sition Increme
nt
al (
P
osit
In
cr)
Action Posit
Blend
Tim
e
Ble
n d
Param Ble
n
d
Digin Blend
(+/-
) Wait
Digin
Step to Nex
t
En
d
Velo
cit
y
Mo
ve
ve
l
N
/A
N
/A
N
/A M
ove
ve
l
M
ove
ve
l
N
/A
Accel
Mo
ve
a
cce
l N
/A
N
/A
N
/A
M
ove
a
cce
l M
ove
a
cce
l N
/A
Decel
M
o ve
d
e ce
l
N /A
N
/A
N
/A
M
ov
e d
ece
l
M
ov
e d
ece
l
N
/A
Valu
e
In
cre
m
en
ta
l
Tar
ge
t p
o s
N/A
N/A
N
/A In
cr
e m
en
ta
l
Tar
g
et
p
os
In
cr
e m
en
ta
l
Tar
g et
p
os
N/A
Dwell
N/
A N/
A
N/
A
N
/A
Dw
ell
Tim
e
Dw
ell
Tim
e
Dw
ell
Ti
m
e
Batch
N/
A
N/
A
N/
A
N/
A
Bat
ch #
Bat
ch #
N/A
Next
N
ex
t S
te
p
N
/A
N
/A
N/
A
N
e xt
Ste
p
Ne
xt
Ste
p
N/A
Next S
tep
Co
ndition
P
ositi
on
>
Val
ue
N/
A
N/
A
N
/A DigIn
tra
nsiti
on
Pos
iti
on >
Val
ue
Re
st
ar
t
In
de
xe
r
D
igI
n #
N/
A N/
A
N/
A
N
/A
Digin
#
N/A N/A
Ty
pe
= Sp
ee
d P
rofile
Act
io
n Po
si
t Bl
en
d
Ti
me
Bl
en
d
Par
am
Bl
en
d
Di
gi
n
Bl
end
(+
/- ) Wait
Digi
n
Step
to
N
ex
t
E n d
Vel
o ci
ty
M
ove
ve
l
Mo
ve
ve
l
M
ove
ve
l
Mo
ve
V
el
M
ove
ve
l
Mo
ve
ve
l
N
/A
Ac
ce
l
M
ove
a
cc
e l
Mo
ve
a
cce
l
M
ove
a
cce
l
Mo
ve
a
cce
l
M
ove
a
cce
l
Mo
ve
a
cce
l
N /A
De
ce
l
Mov
e
dec
el
Mo
ve
de
ce
l
Mov
e d
ec
el
Mo
ve
de
ce
l
Mov
e d
ec
el
M
o ve
de
ce
l
N/A
Val
u e
Incr
e
ment
al
Ta
rget
p
os
Tot
a l Tim
e
Co
mp
ar
e
P
ar
am
#
(+
/- )
N/
A
Tot
al Ti
m
e
Tot
a
l Tim
e
N/A
Dw
el
l
N/
A N
/A
Co
m
pa
re
Par
am #
D
w
e ll T
ime
D
w
el
l T
im
e
D
w
e ll T
ime
D w
el
l
Ti
m
e
Bat
ch
N
/A
N/
A
N
/A
Ba
tc
h #
Bat
ch
#
Ba
tc
h #
N/A
Ne
xt
N
ex
t St
ep
Nex
t St
ep
N
ex
t St
ep
Nex
t St
ep
Ne
xt
Ste
p
Nex
t S
te
p
N/A
Ne
xt
St
ep
Co
nd
iti
on
P
ositio
n >
Val
u e
Ti
m
e >
Va
lu
e
Par
am[
Va
lue
]
C
omp
ar
e to
Par
am[
Dw
e ll]
Digi
n [Val
ue
]
tr ans
ition
Digin tra
nsiti
on
Ti
m
e >
Va
lu
e
Re
start
Pr
of
ile
Di
gI
n #
N
/A N/
A
N
/A
Digi
n #
Digin
#
N/
A
N/A
Position Control –
Profiler/Indexer (2)
Position Control –
H
oming
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Homing Status
0 1 2 3
Home R
equest
Home E
nabled
Homing At Hom
e
731
Homing Con
trol
0 1 2 3 4 5 6
F
ind Hom
e
Ho
m
e
DI
H
ome M
arker
R
eturn H
ome
P
sn Rede
fine
H
oming A
larm
Ho
m
e
DI
I
n
v
Speed
Position
735
Find Home
Speed
736
Find Home
Ramp
737
Actual Home
Psn
738
User Ho
me Psn
784
PTP
Command
Spd Ref To Spd Ref [6G3]
To Psn Re
f
[11E3]
7
H
old At H
ome
732
D
I Find Home
733
D
I Redefine
Psn
734
D
I OL Home Limit
960
8
Alarm Status B
Hom
ing Ac
tv
9
Not
Home
Set
730
+
-
+
-
84
7
135
Psn Fdbk
Sel
Psn Fdbk
Source
Pa
ramete
r
S
election
725
Ze
ro Pos
ition
To Psn Regulator [12B3]
836
Psn
Actual
Psn Fdbk
1.
When Homing function
is enabled,
Psn Actual
[P836] is loaded with
Psn Fdbk [P847] . 2. When Homing fu
nction is complete,
Zero Position
[P725] is loaded with
Actual Home
Position
[P737
] -
User
Home Position
[P
738].
Then
Psn Actua
l
[P836] is loaded with
Psn Fdbk
[P847
] -
Zero
Positio
n
[P725]. 3. When Position Rede
fine is enabled,
Actual Home
Position
[P737] is loaded
with Psn Fdbk [P
847] .
PF
755 Rev
_9.a
Pag
e 17