Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual - Manual (Page 87)

Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013 87
Detail Drive Configuration and Operation Chapter 1
Parameter 770 [PositReg Integ] is the integral gain for the position loop.
[PositReg Integ] can be used but is disabled by default and is normally not
needed for position follower applications. To enable [PositReg Integ], set
parameter 740 [Position Control], bit 2 “Integ En” = 1. When [PositReg Integ] is
used, parameters 772 [XReg Integ LoLim] and 773 [XReg Integ HiLim] should
be set with narrow limits.
Jogging a Position Follower Independent from the Master
Version 1.xxx - When you want to jog the PowerFlex 700S follower drive
independently, turn off parameter 740 [Position Control] bit 1 “Posit Spd
Output” to disable the position loop output.
Version 2.xxx - The jog can be performed while the position loop output is
enabled.
Position Loop - In Position
Detect The In Position Detection determines if parameter 769 [Position Error] is within
a user defined value. Parameter 769 [Position Error] is the result of parameter
747 [Position Cmmd] - parameter 762 [Mtr Posit Fdbk].
Parameter 782 [In Posit BW] sets the absolute number of position counts that
parameter 769 [Position Error] must be within for parameter 741 [Position
Status] bit 10 “In Position” to turn on.
Parameter 783 [In Posit Dwell] sets a delay time in seconds that parameter 769
[Position Error] must be within parameter 782 [In Posit BW] before parameter
741 [Position Status] bit 10 “In Position” turns on.
Position Loop - Point to Point Technical Information
First a few general facts about the Point to Point Position Loop:
• Uses only parameter 768 [PositReg P Gain] for tuning. Parameter 770
[Posit Reg Integ] is not used in point to point mode.
• The number of position counts per revolution depends on the type of
feedback device used:
In Position Detect
769
782
783
741 10
In Posit BW
In Posit Dwell
Position Error
Position Status
(In Position)