Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011 89
Detailed Drive Operation Chapter 1
Position Output
Example:
A material handling application uses the PPMP to move the materials from one
position to another.
Turn on the position control and Motion Planner functions in the firmware:
• Set bits 16 “PositionCtrl” and 19 “MotinPlanner” of parameter 147 [FW
Functions En] = 1
The moves should be absolute:
• Set bit 0 “Absolute” of parameter 1134 [PPMP Control] = 1
The desired speed for the moves is 1000 rpm:
• Set parameter 1136 [PPMP Rev Spd Lim] = -1000 rpm
• Set parameter 1137 [PPMP Fwd Spd Lim] = 1000 rpm
The desired acceleration time to base motor speed is 0.5 s:
• Set parameter 1139 [PPMP Accel Time] = 0.5 s
• Set parameter 1140 [PPMP Decel Time] = 0.5 s
Enable the position loop:
• Set parameter 151 [Logic Command] bit 13 “Position En” = 1
• Set parameter 740 [Position Control] bit 1 “Speed Out En” = 1
Set up the position reference from the Motion Planner:
• Link parameter 743 [Aux Posit Ref ] to parameter 1143 [PPMP Pos
Output]
• Set parameter 742 [Position Ref Sel] = 1 “AuxPosit Ref ”
Set up the speed reference for the feed forward from the Motion Planner:
• Link parameter 10 [Speed Ref 1] to parameter 1142 [PPMP Spd Output]
• Set parameter 11 [Spd Ref1 Divide] = 1
• Set parameter 27 [Speed Ref A Sel] = 1 “Speed Ref 1”
• Set parameter 151 [Logic Command] bit 0 “SpdRmp Dsbl” = 1
To perform a move, set the position that you would like to move to in parameter
1130 [PPMP Pos Command] and then toggle parameter 1134 [PPMP Control]
bit 2 “Start”.
To Next Page
Loading...
Need help?
General
