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User Data Sheet

1. 3 00 26 435 PM 3 00 50 435 3 01 14 435 3 01 38 435 3 02 02 435 3 02 26 435 PM Las M M Enabled AB_DF1 1 1 o 1 216 Dig In Status 00000000000000 0 30 M M Enabled AB_DF1 1 1 0 2 700 Pos Spd Prof Sts 00000000000000 500 21000 M M Enabled AB_DF1 1 1 o 3 701 Units Traveled 45 00 unit ooo froo For Help press F1 NUM AS_PF700_Position_Profile_Encoder_Incremental doc Form Revision A Page 4 of 5 Drive Application Software Application Set Wiring Diagram PowerFlex700 24 24V 25 DIG INCOM 26 24V COM 27 DIGIN1 Stop o o 28 DIGIN2 e A Start Encoder Fdbk 29 DIGIN3 S so 30 DIGIN4 ene Pos Sel 1 N ZNOT 3 o o 31 Pos Sel 2 DIG IN S BNOT 5 32 DIGIN6 B 6 ANOT 2 l afi Lowe ett oe AS_PF700_Position_Profile_Encoder_Incremental doc Form Revision A Page 5 of 5 ci DO MU O o gt
2. Step 2 Value 15 00 Number of units to travel for step 2 Seconds to hold at position when step value is 735 Step 2 Dwell 1 00 reached 736 Step 2 Batch 1 Number of times to do this step consecutively 737 Step 2 Next 16 The step to go to after this step is complete 740 Step 3 Type 4 Selects an encoder incremental move 741 Step 3 Velocity 1500 0 Speed and direction for step 3 742 Step 3 AccelTime 1 00 Acceleration time for step 3 743 Step 3 DecelTime 1 00 Deceleration time for step 3 744 Step 3 Value 20 00 Number of units to travel for step 3 Seconds to hold at position when step value is 745 Step 3 Dwell 1 00 iached 746 Step 3 Batch 1 Number of times to do this step consecutively 747 Step 3 Next 16 The step to go to after this step is complete 870 Step 16 Type 7 Selects End and Hold Position 871 Step 16 Velocity 0 00 Speed and direction for step 16 872 Step 16 AccelTime 1 00 Acceleration time for step 16 873 Step 16 DecelTime 1 00 Deceleration time for step 16 874 Step 16 Value n a Number of units to travel for step 16 875 Step 16 Dwell 0 50 Seconds to hold at position 876 Step 16 Batch 1 Number of times to do this step consecutively 877 Step 16 Next 16 The step to go to after this step is complete Tuning Tips 1 After downloading the dno file the Motor Data and Motor Tests portions of the Basic Startup should be performed through the LCD HIM 2 Speed Regulator Settings P449 Speed Des
3. Drive Application Software Application Set APPLICATION Application Set Title Position Profile Encoder Incremental SOFTWARE Drive Product PowerFlex 700 Vector Control Series B File Name for AS AS PF700 Position Profile Encoder Incremental doc Date Revision 8 11 05 01 Attention This document and related file s are designed to supplement configuration of the listed drive product The information provided does not replace the drive products user manual and is intended for qualified personnel only Description The Position Profile is used to move incrementally to the desired position The position is determined by the step being used as the starting step For this example two selector switches Pos Sel 1 amp Pos Sel 2 are used to choose step 1 2 or 3 as the starting position profile will not operate because this is an invalid state To recover from this the drive must be Limitations If both selector switches Pos Sel 1 amp 2 are off false when a start command is issued the stopped and profiling must be disabled via P88 or power must be cycled Options amp The starting step of the indexer can be controlled via digital inputs or by manipulation of the Notes Pos Spd Prof Cmd word This example uses digital inputs After downloading dno file the Motor Data and Motor Tests portions of the Basic Startup should be performed through the LCD HIM Then tune the Speed Regulator Bandwidth
4. and Position Regulator Filter and Gain for desired performance Drive Input amp Output Connections Inputs Function Description DIE 1 4 Stop CF P361 DI 2 5 Start P362 DI 3 O Not Used P363 DI 4 52 Pos Sel 1 P364 DI 5 53 Pos Sel 2 P365 DI 6 0 Not Used P366 AX 1 Not Used AL 2 Not Used Outputs Function Description DO 1 Not Used DO 2 Not Used DO 3 Not Used AO A Not Used AO 2 Not Used A Allen Bradley ESEI DeQcE AS _PF700 Position Profile Encoder_Incremental doc Sarvas Form Revision A gi Rockwell Page 1 of 5 Automation Drive Application Software Application Set Parameter Configurations Changes from Default Parameter Settings Any listed defaults are in gray Par Name Value Link Description ae Motor NP per nameplate Data entered per motor nameplate 4 FVC 53 Motor Cntl Sel Vector 80 Feedback Select 3 Encoder Must use quadrature and differential encoder 88 Speed Torque Mod he ie Enables position speed profiling This must be set high enough negative to not limit 153 Regen Power Lim 200 0 deceleration into position otherwise overshoot will occur 161 Bus Reg Mode A Dynamic Brak An energy dissipated into braking An External resistor may be required for high duty 163 DB Resistor Type Internal Res cycle or low friction applications Sizi
5. coder Default is 1 10 of maximum speed Set to the lowest O OS ESES etne possible value to reduce overshoot 714 Find Home Ramp 10 0 This value will typically be less than the default value of 10 seconds AS_PF700_Position_Profile_Encoder_Incremental doc Form Revision A Page 2 of 5 Drive Application Software Application Set This is a low pass filter whose value should be 5 6 PAR Poe nea rier A times the gain value setin P719 This gain adjusts the responsiveness of the position PTA OS Meg Gain 12 Raak P the Aie for better RA Step Data 720 Step 1 Type 4 Selects an encoder incremental move 721 Step 1 Velocity 500 0 Speed and direction for step 1 722 Step 1 AccelTime 1 00 Acceleration time for step 1 723 Step 1 DecelTime 1 00 Deceleration time for step 1 724 Step 1 Value 10 00 Number of units to travel for step 1 Seconds to hold at position when step value is 725 Step 1 Dwell 1 00 reached 726 Step 1 Batch 1 Number of times to do this step consecutively 727 Step 1 Next 16 The step to go to after this step is complete 730 Step 2 Type 4 Selects an encoder incremental move 731 Step 2 Velocity 1000 0 Speed and direction for step 2 732 Step 2 AccelTime 1 00 Acceleration time for step 2 733 Step 2 DecelTime 1 00 Deceleration time for step 2 734
6. ired BW should be set to a point below where instability occurs 3 Position Regulator Settings P719 Pos Reg Gain should be increased to a value that is just below the point where overshoot occurs P718 Pos Reg Filter must be adjusted at a rate that is 5 6 times the value of P719 AS_PF700_Position_Profile_Encoder_Incremental doc Form Revision A Page 3 of 5 Drive Application Software Application Set The plot below shows how the profile will operate when a different starting step is used The sequence was as follows 1 Pos Sel 1 on Pos Sel 2 off A start command issued Step 1 moves incrementally 10 units Once at position a one second dwell at position occurs The step completes and jumps to step 16 which is programmed to end the profile 2 Pos Sel 1 off Pos Sel 2 on A start command issued Step 2 moves incrementally 15 units total of 25 Once at position a one second dwell at position occurs The step completes and jumps to step 16 which is programmed to end the profile 3 Pos Sel 1 on Pos Sel 2 on A start command issued Step 3 moves incrementally 20 units total of 45 Once at position a one second dwell at position occurs The step completes and jumps to step 16 which is programmed to end the profile DriveObserver Untitled1 l x So File View Chart Window Help l x WAOE TTAR Pos Sel 18 2 Pos Sel 2 He 45 units At Position ote Start Input Pos Sel 1 10 units
7. ng of resistor is determined by the loads and speeds of application 190 Direction Mode 1 Bipolar Allows position loop to control direction Disables alarm condition to defeat requirement to run 259 Alarm Config 1 Bit17 0 a homing routine The User must determine if this is necessary for the application Typical range will be 20 40 rad sec Adjusting this will ane PASTA AA ADRIANA automatically change Parameters 445 and 446 For Reference Only Automatically adjusted when 443 Ki Speed Loop 475 8 Parameters 449 is changed For Reference Only Automatically adjusted when 446 Kp Speed Loop 459 Parameters 449 is changed For Reference Only Automatically determined during 490 1 olanInetia aaee inertia autotune Note Kp BW x Inertia ial Position Indexer Bit 0 Bit 1 Bits 0 4 Control what step the profile will start at Bit 2 The digital inputs are used in this setup as noted on Bit 3 page 1 binary value determines step number Bit 4 705 Pos Spd Prof Cmd Bit 5 7 na Bit 8 0 Bits 8 Hold Step not used Bit 9 0 Bit 9 Redefine Pos not used Bit10 0 Bit 10 Find Home not used Bit 11 0 Bit 11 Vel Override not used Bit 12 15 na 707 Encoder Pos Tol 10 Defines the tolerance window of at position This defines the number of encoder pulses equal to 1 l unit It can be scaled to a rotational or linear motion as 708 Counts per Unit 4096 desired by the User 4096 1 rev of 1024PPR quadrature en

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