Rockwell Automation 1336E IMPACT Adjustable Frequency AC Drive User Manual V 1-4.XX - Manual (Page 160)

9-20 Applications
For Example: If the deceleration rate in the speed PI regulator is
set too long, the control of the speed profile loop will not be
followed. The result will be an overshoot of the programmed
travel distance. If the decel rate is lowered, then the overall cycle
of the speed profile is increased.
Profile Speed Command
Profile Speed Command outputs were linked into Speed Ref 1. The
32 bit command is used for fine positioning in encoder mode.
A. Parameter #247 (Profile CMD Frac) linked to Parameter #28
(Speed Ref 1 Frac).
B. Parameter #248 (Profile CMD) linked to Parameter #29
(Speed Ref 1).
Bipolar Signal Reference
Parameter 17 {Logic Options] bit 11 “Bipolar Sref” must be set to 1
to enable bipolar reference for speed and direction control.
If this is not set for bipolar operation, a reverse speed command
(which is a negative value) cannot occur. As a result, the profile
will “lock-up” when the first negative speed step is encountered.
Bus Regulation Turned Off
Bus Regulation is turned OFF when parameter 13 bit 10 is cleared (bit
10 set to “0”). This is so the speed profile control will NOT be
overidden by the bus regulator when bit 10 is set to zero.
NOTE: Using bus voltage regulation with the speed profile
feature is Not Recommended.
If bus regulation is enabled, the motor may not reach commanded
speed and could cause an over-travel condition on the speed
profile steps.
Relay Output Configuration
When Speed Profiling is enabled, parameter 191[Relay 4 Config] is
set to 39 “@ Profile Pos”.
This relay will energize when each “encoder step” reaches the
step position within the set tolerance (p 244).
Motor Current Limits
Parameter #73 Negative Motor Current is set to -200%.
If the drive runs into a current or torque limit during a timed step,
the programmed travel time will be increased. For TB3 input and
encoder steps, the time to travel a given distance will be increased
if this situation occurs.
Torque Mode
Set Parameter #68 [Torque Mode] to a value of 1.
TB Input Mode
Parameter # 116 should be set to a value of 31.
Feedback device is Encoder:
Parameter #64 [Fdbk Device Type] is set to a value of 2.