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Position regulated step parameters, Homing routine, Position indexer/speed profiler 63 – Rockwell Automation 20A PowerFlex 70EC/700VC User Manual

Page 67

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Position Indexer/Speed Profiler

63

Position Regulated Step Parameters

Each of the Position Regulated steps has the following associated parameters or
functions:

X = Function not applicable to this step type

Homing Routine

Each time the profile/indexer is enabled, the drive requires a home position to be
detected. The following options are available:

Homing to Marker Pulse with Encoder Feedback - When “Find Home” is
commanded, the homing routine is run when a start command is issued. The
Homing bit (11) in [Profile Status], parameter 700 will be set while the homing
routine is running. The drive will ramp to the speed and direction set in [Find Home
Speed], parameter 713 at the rate set in [Find Home Ramp], parameter 714 until the
digital input defined as Home Limit is activated. The drive will then ramp to zero
and then back up to first marker pulse prior to the Home Limit switch at 1/10th the
[Find Home Speed]. When on the marker pulse, the At Home bit (13) is set in the
[Profile Status] and the drive is stopped.

The diagram below shows the sequence of operation for homing to a marker pulse.
[Encoder Z Chan], parameter 423 must be set to “Marker Input” or “Marker Check”
for this type of homing.

Homing to Marker

Step Type
Encoder Absolute

Encoder Incremental End Hold Position

Value

Position & Direction

Position & Direction

X

Velocity

Speed

Speed

X

Accel Time

Accel Rate

Accel Rate

X

Decel Time

Decel Rate

Decel Rate

X

Next Step Condition At Position = 1

At Position =1

At Position =1

Dwell

Dwell Time

Dwell Time

Dwell Time

Batch

X

Batch Number

X

Next

Next Step

Next Step

X (Stop)

-100

-50

0

50

100

150

200

250

2

7

12

17

22

27

42

0

5

10

15

20

25

30

[Encoder Speed], 415

[Units Traveled], 701

[Dig In Status], 216

[Profile Status], 700

Find Home Command

Start Command

Home Limit Input

At Home

Homing

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