222 Rockwell Automation Publication 520-UM001K-EN-E - August 2021
Appendix E Encoder/Pulse Train Usage and Position StepLogic Application
drive will move directly to whatever step is currently commanded by
A410
...A425 [Preset Freq x] and L200...L214 [Step Units x]. This is useful
when an application needs direct access to any position step based on
discrete inputs. This mode moves in the forward direction from Home
and is an absolute move.
2 “Step Logic” provides a highly flexible mode of operation. This can be
used to move through the steps (Step 0 to Step 7 and back to Step 0) or
can jump to a different step at any time based on time or the status of
digital inputs or communication commands. In this mode the drive
always starts at Step 0 of the StepLogic profile.
3 “Preset StpL” is identical to 2 “Step Logic” except the drive will use
the current status of the Preset Inputs to determine which Step Logic
step to begin. This only affects the initial step. After start, the drive will
move through the steps in the same manner as if setting 2 was
selected.
4 “StpLogic-Lst” is identical to 2 “Step Logic” except the drive will use
the step prior to its last stop command to determine which Step Logic
step to begin. This only affects the initial step. After start, the drive will
move through the steps in the same manner as if setting 2 was
selected. This allows a process to be stopped and then restarted at the
position where it stopped.
In all position modes, the following parameters will control the characteristics
at each step:
L200
, L202, L204, L206, L208, L210, L212 and L214 [Step Units x] are the
number value to the left of the decimal (whole number) of the 8 positions
desired for an application, beginning with Step 0 (L200) and continuing with
each step until Step 7 (L214). For example, enter 2 into this parameter if you
would like a commanded position of 2.77.
L201, L203, L205, L207, L209, L211, L213, and L215 [Step Units F x] are the
number value to the right of the decimal (the portion less than 1) of the 8
positions desired for an application, beginning with Step 0 (L201) and
continuing with each step until Step 7 (L215). For example, enter 0.77 into this
parameter if you would like a commanded position of 2.77.
A410
...A417 [Preset Freq x] are the parameters that define the maximum
frequency the drive will run at during the corresponding step. For example, if
[Preset Freq 2] is set to 40 Hz, the drive will accelerate to 40 Hz maximum
when moving to Position 2.
IMPORTANT
Advanced StepLogic options such as incremental move are not
available in this mode.
Frequency Source Step Source Position Source
A410
[Preset Freq 0] L180 [Stp Logic 0] L200 [Step Units 0]
A411
[Preset Freq 1] L181 [Stp Logic 1] L202 [Step Units 1]
A412 [Preset Freq 2] L182 [Stp Logic 2] L204 [Step Units 2]
A413
[Preset Freq 3] L183 [Stp Logic 3] L206 [Step Units 3]
A414
[Preset Freq 4] L184 [Stp Logic 4] L208 [Step Units 4]
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