Rockwell Automation Allen-Bradley PowerFlex 700 B Series, User Manual

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Application Notes C-21
Position Regulated Step Types and Parameters
Each of the Position Regulated steps has the following associated
parameters or functions:
Encoder Absolute
This is a move to an absolute position, which is referenced from the
home position. When started the drive ramps to the desired velocity in
the direction required, holds the speed, then ramps to zero speed landing
or ending at the commanded position within the tolerance window.
Encoder Incremental (Encoder Incr)
This is a move increment from the current position in the direction,
distance and speed programmed. When started the drive ramps to the
desired velocity, holds the speed, then ramps to zero speed landing or
ending at the commanded position within the tolerance window.
End Hold Position
The drive holds the last position and stops the profile after dwell time
expires. Must be used with position regulated profile. Do Not use “End.”
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] 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
Step Type Value Velocity
Accel
Time Decel
Time Next Step
Condition
Dwell Batch Next
Encoder
Absolute Position &
Direction Speed Accel
Rate Decel
Rate At Position Dwell
Time NA Next
Step
Encoder
Incremental Position &
Direction Speed Accel
Rate Decel
Rate At Position Dwell
Time Batch
Number Next
Step
End Hold
Position NA NA NA NA At Position Dwell
Time NA Stop
NA = Function not applicable to this step type