Rockwell Automation 20A PowerFlex 70EC/700VC User Manual
Page 73
Position Indexer/Speed Profiler
69
Encoder Incremental Blend w/Velocity Override
Parameter Level (Param Level) - When started the drive will ramp to the desired
velocity, hold speed and compare the programmed step value to the step dwell
level. The sign of the step value defines “less than or greater than” step dwell.
When true, the profile will transition to the next step.
The example below shows a five step profile using “Param Level” steps followed by
an “Encoder Abs” then an “End” step. For each “Param Level” step the drive ramps
at [Step X AccelTime] to [Step X Velocity] in the direction of the sign of [Step X
Velocity]. The [Step X Value] is programmed to the parameter number to monitor.
The [Step X Dwell] is the value used to compare against the [Step X Value]. The
sign of [Step X Value] sets a less than or greater than comparison (– equals < and +
equals >). When the comparison of [Step X Value] and [Step X Dwell] is satisfied
the profile transitions to the next step. The “Encoder Abs” step is used to send the
profile back to the home position. This is done by programming [Step 4 Value] to
zero.
In the example [Step 1,2,3 Value] is set to “701.” The value of [Units Traveled],
parameter 701 is now a greater than comparison with the step dwell parameters.
[Step 1 Dwell] = 10, [Step 2 Dwell] = 20, and [Step 3 Dwell] = 30. When step 1 is
beyond 10 Units Traveled, the profile transitions to step 2. When step 2 is greater
than 20 Units Traveled the profile transitions to step 3. The transition from step 3 to
step 4 happens when Units Traveled is above 30.
Step # Step X Type
Step X
Velocity
Step X
AccelTime
Step X
DecelTime
Step X
Value
Step X
Dwell
Step X
Batch
Step X
Next
1
EncInc Blend 100
0.5
0.5
10.00
0.00
1
2
2
EncInc Blend 200
0.5
0.5
10.00
0.00
1
3
3
EncInc Blend 300
0.5
0.5
10.00
0.00
1
4
4
Encoder Abs 400
0.5
0.5
0.00
1.00
1
5
5
End
N/A
N/A
0.5
N/A
0.00
N/A
N/A
20
30
40
50
60
70
90
100
0
5
10
15
20
25
30
Complete
Step 1
Step 2
Step 3
Step 4
Step 5
Time
-50
-150
-250
-350
-450
50
150
250
350
110
[Encoder Speed], 415
[Units Traveled], 701
Current Step
[Profile Status], 700
Velocity
Override
10
80
E
n
co
d
er
S
p
eed
Units Traveled
Profile Status
Current Step