Rockwell Automation 1336E IMPACT Adjustable Frequency AC Drive User Manual V 1-4.XX - Manual (Page 169)

Applications 9-29
This is useful when using the encoder to replace limit switches for
controlling the commanded speed. Keeping the commanded velocity
from going to zero speed for fine positioning, will reduce the time
between encoder steps. This subsequently reduces the overall cycle
time.
The blend mode will reduce the position accuracy since the drive may
be moving at a relatively fast rate. The encoder sample interval is
fixed at 12.5 ms.
The control will not backup to maintain a position. It will
automatically continue to the next step when the position is at or
beyond the target. Any errors would accumulate throughout the
sequence.
Figure 9.14
Velocity Blend Mode Example
Step Example Without
Velocity Blend
Notice that each step is a precise movement and the control brings the motor to zero
[Profile Enable] xxxx0011
Step Example Using
Velocity Blend Mode
[Profile Enable] xxxx1011
Notice that the step velocities are “blended” together in this mode. The position
speed at the end of each step. When the step is within tolerance value, the relay output
activates. Once the next step is initiated, the relay opens (out of tolerance).
accuracy at each step is limited, but with an encoder home end action, the starting posit
is very accurate.