Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual - Manual (Page 83)

Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013 83
Detail Drive Configuration and Operation Chapter 1
The following is a block diagram overview of the position follower mode:
Speed Reference Selection
For the position following mode to work properly, there needs to be a speed
reference to the speed loop of the drive to follow.
For example, link parameter 12 [Speed Ref 2] to parameter 241 [Encdr1 Spd
Fdbk]. Set parameter 16 [Speed Ref Sel] = 1 “Speed Ref 1". This generates the
speed command from the master encoder input. If a gear ratio is used in the
position loop, parameter 13 [Spd Ref2 Multi] must be setup to match the gear
ratio set in the position loop.
Speed Reference Ramp
The speed reference ramp should be disabled when using the drive as a position
follower. To disable the speed reference ramp, set parameter 151 [Logic
Command] bit 0 “SpdRamp Dsbl” = 1.
Speed Ref
Selection
Linear Ramp
& S Curve
16
Speed Ref Sel
40 43
Speed Control - Reference (2ms)
Selected Spd Ref S Curve Spd Ref
10
11
12
13
/
*
PI
Regulator
81
82
Spd Reg P Gain
Spd Reg I Gain
300
Motor Spd Fdbk
302
Spd Reg PI Out
Speed Control - Regulator (0.5ms)
Motor Speed Ref
90 Spd Reg BW
301 +
22
743
Aux Posit Ref
Gear Rat
[ N ]
[ D ]
+
Position Offset
PI Regulator
762
Mtr Posit FB
318
Posit Spd Output
Position Control (2ms)
Speed Trim 2
Speed Ref 1
Speed Ref 2
Spd Ref1 Divide
Spd Ref2 Multi
from
Master Encdr
from
Master Encdr
from
Follower Encdr
from
Follower Encdr
Speed Ref
Selection
16
Speed Ref Sel
40
Selected Spd Ref
10
11
12
13
/
*
Speed Ref 1
Speed Ref 2
Spd Ref1 Divide
Spd Ref2 Multi
from
Master Encdr