Rockwell Automation 20D PowerFlex 700S AC Drives with Phase II Control Programming Manual - Manual (Page 189)

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 189
Control Block Diagrams Appendix C
pt_to_pt_motion_plan.eps
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Po
s
ition Control P
oint to P
oint Motion Pl
a
nner
(T
as
k 2)
147
13
S
c
a
le
Comm
a
nd
Inter
preter
S
C
u
rv
e
X
X
&
1134
1137
1136
2 1 0
1134
1134
5
8
9
1138
1144 1142 1143
/
X
1130 1131 1132
PPMP P
o
s
Comm
a
nd
PPMP P
o
s
M
u
l
PPMP P
o
s
Div
0 1
Profile Gen.
1141
1140
1139
7
1135
0 1 2 3 4 5 6
8 9 10 11 12
A
bs
ol
u
te
Increment
a
l
S
ta
rt
xxxx S
c
a
ling En
ab
le
Ov
err
ide En
S
C
u
rv
e En
P
aus
e
Re-
S
ynch
Zero
S
peed
Done R
u
nning
7
Cond Hold
PPMP
S
ta
tus
151
Po
s
ition En
ab
le
FW_F
u
nct (MotinPl
a
nner)
19
PPMP Control
S
ta
rt
Increment
a
l
A
bs
ol
u
te
1134
4
PPMP Control (S
c
a
ling_En)
PPMP Fwd
S
pd Lim
PPMP Re
v
S
pd Lim
PPMP Control (Ov
er Ride En)
PPMP Ov
er Ride
PPMP Control
(P
aus
e)
Re_
S
ynch
PPMP P
o
s
To
G
O
PPMP
S
pd O
u
tp
u
t
Cond_Hold
1134
6
PPMP Control (S
-C
u
rv
e En)
PPMP
S
C
u
rv
e
PPMP Decel
Time
PPMP Accel
Time
1133
PPMP
S
c
a
led Cmd
PPMP P
o
s
O
u
tp
u
t
Te
s
tP
oint
s
P 1145 TP
S
elect
P1146
TP Dint O
u
t
P1147 TP
Re
a
l O
u
t
741
7
Po
s
ition
S
ta
tus
(Reg
u
la
tor On)