82 Rockwell Automation Publication 750-RM100A-EN-P - August 2019
Chapter 9 Reference Motion Planners
Step 1—Configure Move Type
Adjust parameters described in the following table to setup the base Velocity Reference
move profile.
10/11:931 [Ref Move Type] provides a selection of useful move profile types with easy
switching between them.
Table 29 - Velocity Reference Configuration Parameters
Parameter Description
10/11:931
[Ref Move Type]
Select the move type used for generating position and velocity reference commands.
‘LinScurve’ (0) – Selects the Linear move type with optional S-curve smoothing. This is the
LinScurve move type used in 750 series drives.
‘SineSquared’ (1) – Selects the Sine Squared move type. This produces the smoothest possible
motion to reduce mechanical wear.
‘Poly5’ (2) – Selects the Fifth Order Polynomial move type. This produces smooth motion, but
trades some smoothness at the beginning and end of each move for lower peak dynamics.
‘Cubic’ (3) – Selects the Cubic move type. This is Third Order Polynomial move type that is
similar to LinScurve, however it can leverage new features and can be adjusted by 10/11:932
[RefEnergyBalance] through 10/11:941 [Ref Fault Config].
10/11:941
[Ref Fault Config]
Select the drive action for position and velocity reference commands when 10/11:1410 [PTP
Move Status], bit 4 [Move Failed] = 1 or 10/11:1938 [VRef Move Status], bit 4 [Move Failed] = 1.
‘Ignore’ (0) – No action is taken
‘Alarm’ (1) – A Type 1 Alarm is indicated
‘Flt Minor’ (2) – A minor fault is indicated. The drive continues to run if it is currently running.
‘FltCoastStop’ (3) - A major fault indicated. The drive coasts to a stop if it currently running.
‘Flt CL Stop’ (4) - A major fault indicated. The drive does a current limit to a stop if it currently
running.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
10/11:1950
[Vel Ctrl Options]
Set and clear bits to configure options in the Velocity Regulator.
Bit 0 “Ramp Hold” – set this bit to stop the Velocity Reference Ramp from changing and to hold
constant. Clear this bit to allow the Velocity Reference Ramp to change. If this bit is set while 10/
11:1923 [VRef Ramped] is in an S-curve region, the S-curve completes before the output is held.
Bit 1 ‘Ramp Disable’ – Set this bit to bypass the Velocity Reference Ramp. 10/11:1923 [VRef
Ramped] tracks the Input to the ramp function.
Bit 2 ‘StpNoSCrvAcc’ – Set this bit to force the velocity regulator to immediately discontinue
acceleration when the drive receives a stop command. Clear this bit to finish accelerating, as part
of the S-curve profile, before decelerating in response to a stop command.
Bit 9 ‘NoSCrvSpdChg’ – Set this bit to interrupt the S-curve if the drive is accelerating and a new
velocity reference is commanded less than the current velocity. The drive will immediately
decelerate. Setting this bit will also interrupt the S-curve if the drive is decelerating when the
new velocity reference is more than the current velocity. Clearing this bit configures the drive to
complete the S-curve before decelerating or accelerating. Note to Tech Writing use
NoSCrvSpdChg figure.
Bit 10 ‘FastZeroCrs’ – Set this bit to allow the velocity command to cross zero without ramping to
zero acceleration. Clear this bit to generate two moves: a first move that ramps to zero
acceleration when approaching zero velocity and a second move to ramp from zero acceleration
after crossing zero velocity and move to the final velocity.
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