Rockwell Automation 20D PowerFlex 700S AC Drives with Phase II Control Programming Manual - Manual (Page 187)

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 187
Control Block Diagrams Appendix C
pos_control_pt_to_pt.eps
768 761 759 760
Po
s
itReg P G
a
in
Pt
-Pt Filt BW
Pt
-Pt Accel Time
Pt
-Pt Decel Time
Po
s
ition Control
-
Point-
to
-Point
(T
as
k 2
)
Reref
758
740
10
0 1 2
742
Ge
a
r R
a
t
[ N
]
[ D
]
745 746
Po
s
itRef EGR M
u
l
Po
s
itRef EGR Div
744
747
Pt
-Pt Po
s
it Ref
Po
s
ition Control
(Pt
-Pt ReRef
)
Po
s
itRef EGR O
u
t
Po
s
ition Cmmd
*
*
Po
s
it Ref
S
el
762
769
Po
s
ition Error
0
318
775 776
0
Po
s
ition
S
ta
tus
XReg
S
pd LoLim
XReg
S
pd HiLim
Po
s it
S
pd O
u
tp
u
t
to
S
peed Control
-
Reg
u
la
tor [
5
A
2
]
763
Po
s
ition Act
ua
l
*
1
S
ee Interpol
a
ted
/Direct
Po
s
ition Control Di
a
gr
a
m
P
a
ge 6
Δ
Δ
from
S
peed
/Po
s
it
Fd
b
k [
9
H
3
]
(X
S
pd LLim
)
(X
S
pd HLim
)
Δ
&
740
01
157
03
Logic Ctrl
S
ta
te
S
peed O
u
t En
ab
le
1 2 3 4 5 6
B
A
D
C
F
E
H
GI
Po
s
ition Control
A
bs
Po
s
itCtrl
740
06
1)
P
a
ra
meter 740
b
06 m
a
y
b
e
s
et when
a
m
u
lti
-t
u
rn
abs
ol
u
te feed
ba
ck device i
s
us
ed for Point to Point
po
s
itioning
.
Activ
a
ting p
740
b
06
will ReRef the po
s
ition
reference to the
abs
ol
u
te feed
ba
ck when po
s
ition control i
s
a
ctiv
a
ted (
p
741
b
07
).
If the v
a
lu
e
a
t p
758
is
different th
a
n
the feed
ba
ck in
763
a
po
s
ition error will exi
s
t
a
nd the
m
a
chine will move to po
s
ition when
a
ctiv
a
ted
.
2
) When p
740
b
06 i
s
high the
[S
etZeroPo
s
it
] p
740
b
09
m
a
y
b
e
us
ed to
s
et the zero “home” po
s
ition
a
cc
u
m
u
la
tor
s
.
Thi
s
c
a
n only
b
e
us
ed when the drive i
s
not in r
u
n
a
nd
p
740
b
06 =
1
.
3
) When p
740
b
06 i
s
high
,
p
745
&
p
746
a
re
b
yp
ass
ed
. In
abs
ol
u
te mode the point to point po
s
ition reg
u
la
tor c
a
n only
us
e r
a
w co
u
nt
s
as
po
s
ition comm
a
nd
.
741
4
Po
s
ition
S
ta
tus
(PtPtRRef Act
)
Notch
II R
741
02
741
03
Point to Point Po
s
ition
Limit
779 778
X Notch Atten
u
X Notch FiltFreq
+
R
a
te Lim
753 754 755
LP
ass Filter
756
Po
s
it Off
s
et 1
Po
s
it Off
s
et 2
Po
s
it Off
s
et
S
pd
X Off
s
t
S
pdFilt
Po
s
ition Control
(X Off
s
et Pol
)
Po
s
ition Control
(XOff ReRef
)
740
04
740
05
741
05
Po
s
ition
S
ta
tus
(XOffReRef Act
)
+
+
+
-
796
Po
s
it Ge
a
r R
a
tio
C
a
lib
Con
s t
Motor
S
peed
Ge
a
r O
u
tp
u
t
S
pd
()
Po
s
ition Fd
b
k
from
[15
H
5
]
0 1
0 0
1 0
&
740
20
Po
s
ition Control
(Pt
-PtRmp
S
top
)
&
740
20
Po
s
ition Control
(Pt
-PtRmp
S
top
)
157
03
Logic Ctrl
S
ta
te
Inv
Po
s
it
S
pfRef >
0
.01
OR
from
[15
H
5
]
Po
s
ition Control
S
etZeroPo
s it
740
09
*
Po
s
ition Control
Xzero Pre
s
et
740
08
On the ri
s
ing edge
(a
ctiv
a
tion
) of p
741
b
it 7
[15
H
5
]
the
following
b
it
ass
ignment
s
occ
u
r:
1
) If p
740
b
it 8
is
s
et
, then
p
763
,
p
765
,
p
744
,
a
nd p
747
get
lo
a
ded with
[Po
s
ition Fd
b
k (
p
762
)
-
A
bs
Po
s
it Off
s
et (
p
757
)].
2
) If p
740
b
it 8
is
re
s
et
, then
p
763
, p
765
, p
744
,
a
nd p
747
get
lo
a
ded with the reference v
a
lu
e
(prior to reference deriv
a
tive
fu
nction in coordin
a
te [
D
2
]).
757
A
bs
Po
s it Off
s
et
Thi
s point i
s a
delt
a
ch
a
nge
.
When the po
s
ition loop i
s
fir
s
t
en
ab
led the po
s ition comm
a
nd
a
nd feed
ba
ck delt
a
a
re zero
.
Δ
0
1
Po
s
ition Control
A
bs
Po
s
itCtrl
740
06