Rockwell Automation Allen-Bradley PowerFlex 700S - Profile Generator

88 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011
Chapter 1 Detailed Drive Operation
Figure 20 - Point to Point Motion Planner Block Diagram
Profile Generator
The profile generator executes a trapezoidal or s-curve move.
Speed Output (Feed-Forward)
The velocity reference is a feed-forward signal that is normally used to secure zero
tracking error in most systems. However, zero tracking error is not usually a
requirement in point to point applications. In many cases, running less than
100% feed-forward produces a more desirable overall response. For applications
requiring the quickest response possible, consider using near 100% feed-forward
with “S” curve disabled and set control (parameter 1134) bit 7 “Cond Hold”.
147
13
Scale
Command
Interpreter
S Curve
X X
&
1134
1137
1136
2
1
0
1134
1134
5
8
9
1138
1144
1142
1143
/
X
1130
1131
1132
PPMP Pos Command
PPMP Pos Mul
PPMP Pos Div
0
1
Profile Gen.
1141
1140
1139
7
1135
0
1
2
3
4
5
6
8
9
10
11
12
Absolute
Incremental
Start
(Reserved)
Scaling En
Over Ride En
S Curve En
Pause
Re-Synch
Zero Speed
Done
Running
7
Cond Hold
PPMP Status
151
Logic Command (Position En)
FW Functions En (MotinPlanner)
19
PPMP Control
Start
Incremental
Absolute
1134
4
PPMP Control
(Scaling En)
PPMP Fwd Spd Lim
PPMP Rev Spd Lim
PPMP Control
(Over Ride En)
PPMP Over Ride
PPMP Control
(Pause)
Re-Synch
PPMP Pos To Go
PPMP Spd Output
Cond Hold
1134
6
PPMP Control
(S Curve En)
PPMP SCurve Time
PPMP Decel Time
PPMP Accel Time
1133
PPMP Scaled Cmd
PPMP Pos Output
TestPoints
P1145 [PPMP TP Select]
P1146 [PPMP TP DataDint]
P1147 [PPMP TP DataReal]