Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 416)

416 Rockwell Automation Publication 750-PM001J-EN-P - October 2014
Appendix A PowerFlex 755 Control Block Diagrams
Figure 50 - Position Control - Profiler/Indexer (2), Homing
Ty
pe = Po
sition A
bs
olute
(P
osi
t Abs)
Action Posit
B
lend
Time Ble
nd
Param Ble
nd
Digin Blend
(+/-
) Wait
Digin
Step to Nex
t
En
d
Velo
cit
y
Mov
e v
el
N/
A
N/
A
N
/A
Mov
e v
el
Mov
e v
el
N/A
Accel
M
ov
e
ac
ce
l
N/
A
N/
A
N
/A
M
ov
e a
cc
el
M
ov
e a
cc
el
N/A
Decel
Mov
e
dec
el
N/
A
N/
A
N/
A
Mov
e dec
el
Mov
e dec
el
N/A
Valu
e
Abs
ol
ut
e
Ta
rg
et
p
os
N/
A N/
A
N/
A Abs
ol
ut
e
Tar
ge
t p
os
Abs
ol
ut
e
Tar
ge
t p
os
N/A
Dwell
N
/A
N/
A N/
A
N
/A Dw
ell
Tim
e
Dw
ell
Tim
e
Dw
ell
Ti
m
e
Batch
N/
A
N /A
N/
A
N
/A
N/A N/A N/A
Next
N
ext S
te
p
N
/A
N /A
N
/A
N
ext S
tep
N
ex
t S
te
p
N
/A
Next S
tep
Co
ndition
Po
si
tio
n >
Val
ue
N/
A N/
A
N
/A DigIn
tra
nsiti
on
Pos
iti
on >
Val
ue
Re
st
ar
t
In
de
xe
r
D
igI
n #
N
/A N/
A
N/
A
N
/A
Digin
#
N/A
N/A
Ty
pe = Po
sition Increme
nt
al
(P
osit I
ncr)
Action Posit
Blend
Time Ble
nd
Param Ble
nd
Digin Blend
(+/-
) Wait
Digin
Step to Nex
t
En
d
Velo
cit
y
M
ov
e
ve
l N/
A
N/
A
N
/A
M
ov
e
vel M
ove
ve
l N/A
Accel
M
ov
e accel
N/
A
N/
A
N
/A
M
ov
e a
cc
el
M
ove a
cc
el
N/A
Decel
Mo
ve
de
ce
l
N/
A
N/
A
N
/A
Mov
e d
ec
el
Mov
e d
ec
el
N/A
Valu
e
In
cr
eme
ntal
Tar
ge
t p
os
N/
A N/
A
N
/A I
nc
re
m
en
ta
l
Tar
ge
t p
os
In
cr
em
en
ta
l
Tar
ge
t p
os
N/A
Dwell
N/
A
N/
A N/
A
N
/A Dw
ell
Tim
e
Dw
ell
Tim
e
Dw
ell
Ti
m
e
Batch
N/
A
N/
A N/
A
N/
A Bat
ch
#
Bat
ch
#
N/
A
Next
Nex
t St
ep
N/
A
N/
A
N
/A
Ne
xt Ste
p
Ne
xt Ste
p
N/
A
Next S
tep
Co
ndition
Pos
iti on >
Val
ue
N/
A N/
A
N
/A DigIn
tra
nsiti
on
Pos
iti
on >
Val
ue
Re
st
ar
t
In
de
xe
r
D
igI
n #
N/
A N/
A
N/
A
N
/A
Digin
#
N/A
N/A
Ty
pe
=
Sp
ee
d
Pr
ofil
e
Act
io
n Po
si
t Bl
en
d
Ti
me
Bl
en
d
Para
m
Bl
en
d
Di
gi
n
Bl
en
d
(+
/-)
Wait
Digi
n
Step
to
N
ex
t
En
d
Vel
oc
ity
M
ove
ve
l
Mo
ve
ve
l
M
ove
ve
l
Mo
ve
V
el
M
ove
ve
l
Mo
ve
ve
l
N
/A
Ac
ce
l
M
ove
a
cc
el
Mo
ve
a
cce
l
M
ove
a
cce
l
Mo
ve
a
cce
l
M
ove
a
cce
l
Mo
ve
a
cce
l
N
/A
De
ce
l
Mov
e
dec
el
Mo
ve
de
ce
l
Mov
e d
ec
el
Mo
ve
de
ce
l
Mov
e d
ec
el
Mo
ve
de
ce
l
N/A
Val
ue
Incr
ement
al
Ta
rg
et
p
os
Tot
al
Tim
e
Co
mp
ar
e
Par
am #
(+
/-)
N/
A Tot
al
Ti
m
e
Tot
al
Tim
e
N/A
Dw
el
l
N/
A N
/A
Co
m
pa
re
Par
am #
Dw
el
l Ti
m
e
Dw
ell
Tim
e
Dw
el
l Ti
m
e
Dw
ell
Ti
m
e
Ba
tc
h
N
/A N/
A
N
/A
Ba
tc
h
#
Bat
ch
#
Ba
tc
h
#
N/A
Ne
xt
N
ext S
te
p
N ext Step
N
ext S
te
p
N
ext S
tep
N
ext Ste
p
N
ext S
tep
N
/A
Ne
xt
St
ep
Co
nd
iti
on
Pos
iti
on >
Val
ue
Ti
m
e >
Va
lu
e
Par
am[
Va
lue
]
C
omp
are to
Par
am[
Dw
el
l]
Digi
n [
Val
ue
]
tra
nsi
tio
n
Digin tra
nsiti
on
Ti
m
e >
Va
lu
e
Re
st
ar
t
Pr
of
ile
Di
gI
n #
N
/A N/
A
N
/A
Digi
n
#
Digin
#
N/
A
N/A
Position Control –
Profiler/Indexer (2)
Position Control –
H
oming
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Homing Status
0 1 2 3
Home R
equest
Home E
nabled
Homing At Hom
e
731
Homing
Con
tro
l
0 1 2 3 4 5 6
F
ind Hom
e
Ho
m
e DI
H
ome M
arker
R
eturn H
ome
P
sn Rede
fine
H
oming A
larm
H
ome D
I Inv
Speed
Position
735
Find Home
Speed
736
Find Home
Ramp
737
Actual Home Psn
738
User Home Psn
784
PTP
Command
Spd Ref To Spd Ref [6G3]
To Psn Re
f
[11E3]
7
H
old At H
ome
73
2
DI Find Home
733
D
I Rede
fine Psn
73
4
DI OL Home Limit 96
0
8
Alarm Status B
Hom
ing Ac
tv
9
Not
Home
Set
730
+
-
+
-
84
7
135
Psn Fdbk
Sel
Psn Fdbk
Source
Pa
ramete
r
S
election
725
Ze
ro Pos
ition
To Psn Regulator [12B3]
836
Ps
n
Actual
Psn Fdbk
1. When Homing function is enabled, Psn Actual
[P83
6] is loaded with
Psn
Fdbk [P847] .
2. When Homing
fu
nction is complete,
Zero Position
[P725] is loaded with
Actual Home Position
[P737] -
User
Home Position
[P
738].
Then
Ps
n Act
ua
l [P836] is loaded with
Psn Fdbk
[P847] -
Zero
Positio
n
[P725]. 3. When Position Redefine
is enabled,
Actual Home Position
[P737] is loaded
with Psn Fdbk [P847] .
PF
755 Rev
_10.a
Pag
e 17