Rockwell Automation Publication 750-PM001N-EN-P - February 2017 131
Drive Port 0 Parameters Chapter 3
POSITION CONTROL
Position Cfg/Sts
722 Psn Selected Ref
Position Selected Reference
Indicates output of the position referencing. When the Spd/Torq/Pos mode P313 [Actv
SpTqPs Mode] is the position direct mode (Option 10), the value of the position direct
reference P767 [Psn Direct Ref] appears on this parameter. When the Spd/Torq/Pos
mode P313 [Actv SpTqPs Mode] is the position point-to-point mode (Option 7) or the
speed/position profiler mode (Option 6), the position point-to-point reference P776
[PTP Reference] appears on this parameter.
Default:
Min/Max:
0
–2147483648 / 2147483647
RO 32-bit
Integer
723 Psn Command
Position Command
Indicates final accumulated command to the position regulator. When the position
regulator is not active, this parameter is initialized to P836 [Psn Actual].
Default:
Min/Max:
0
–2147483648 / 2147483647
RO 32-bit
Integer
724 Psn Reg Status
Position Regulator Status
RO 32-bit
Integer
Indicates status of position control logic.
Bit 0 “OffsetIntgtr” – Indicates the position offset Integrator is active with the position offset integrator bit P721 [Position Control] Bit 3 “OffsetVel En” is on.
Bit 1 “Offset ReRef” – Indicates the position offset re-referencing is active with the position offset re-referencing bit P721 [Position Control] Bit 2 “Offset ReRef” is
on.
Bit 2 “Psn Intgrtr” – Indicates the position integrator is active with the position integrator bit P721 [Position Control] Bit 1 “Intgrtr En” is on.
Bit 3 “Integ Lmt Lo” – Indicates the position integrator is at the low limit.
Bit 4 “Integ Lmt Hi” – Indicates the position integrator is at the high limit.
Bit 5 “Spd Lmt Lo” – Indicates the position regulator output (speed) is at the low limit.
Bit 6 “Spd Lmt Hi” – Indicates the position regulator output (speed) is at the high limit.
Bit 7 “Psn Reg Actv” – Indicates the position regulator is active
Bit 8 “Intgrtr Hold” – Indicates the position Integrator is held in present state
Bit 9 “PsnW1Detect” – Indicates the position watch 1 has detected motor position equal to its setpoint, from the proper direction.
Bit 10 “PsnW2Detect” – Indicates the position watch 2 has detected motor position equal to its setpoint, from the proper direction.
Bit 11 “InPsn Detect” – Indicates P835 [Psn Error] is within the position band specified by the in-position band P726 [In Pos Psn Band]
725 Zero Position
Zero Position
Sets the absolute user zero position. When the zero position bit P721 [Position Control]
Bit 4 “Zero Psn” is set, P836 [Psn Actual] accumulates the value of P847 [Psn Fdbk] - the
P725 [Zero Position], and P836 [Psn Actual] becomes zero when P847 [Psn Fdbk] is at
the zero position. The homing function also sets the value after homing process is
completed.
Default:
Min/Max:
0
–2147483648 / 2147483647
RW 32-bit
Integer
726 In Pos Psn Band
In Positive Position Bandwidth
Sets the overall bandwidth of the in position detector. The detector sets the in-position
detect bit P724 [Psn Reg Status] Bit 11 “InPsn Detect” when P835 [Psn Error] is within
this position band for a sufficient time specified by the in-position dwell time P727 [In
Pos Psn Dwell]. A modest hysteresis count is added to the position bandwidth after the
position error is within specified limits.
Default:
Min/Max:
200
0 / 2147483647
RW 32-bit
Integer
File
Group
No. Display Name
Full Name
Description
Values
Read-Write
Data Type
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
InPsn Detect
PsnW2Detect
(1)
PsnW1Detect
(1)
(1) 755 drives only.
Intgrtr Hold
Psn Reg Actv
Spd Lmt Hi
Spd Lmt Lo
Integ Lmt Hi
Integ Lmt Lo
Psn Intgrtr
Offset ReRef
OffsetIntgtr
Default00000000000000000000100000000000
Bit 313029282726252423222120191817161514131211109876543210
0 = False
1 = True
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