Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual - Manual (Page 91)

Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013 91
Detail Drive Configuration and Operation Chapter 1
Point to Point Acceleration and Deceleration
Parameter 759 [Pt-Pt Accel Time] sets the acceleration time in seconds from zero
to base motor speed.
Parameter 760 [Pt-Pt Decel Time] sets the deceleration time in seconds from
base motor speed to zero.
The [Pt-Pt Accel Time] and [Pt-Pt Decel Time] are only active in Point to Point
mode. The Default = 10 seconds.
Position Loop Output Limits
Parameter 772 [Xreg Spd LoLim] sets the negative speed limit at which the
position regulator will output. The default is set to -10% of the base motor speed.
Set this to the negative speed at which you want the drive to run for point to
point moves.
Parameter 773 [Xreg Spd HiLim] sets the positive speed limit at which the
position regulator will output. The default is set to +10% of the base motor
speed. Set this to the positive speed at which you want the drive to run for point
to point moves.
Tuning Tips
The speed regulator of the drive must be tuned prior to tuning the Position Loop.
See Speed PI Regulator on page
120 for tips on tuning the speed regulator.
Do not attempt to set the accel/decel rates of the point to point position loop
faster than can be accomplished by the system. Attempting to set the accel/decel
rates faster than the system can handle will cause instability in the position loop.
Do not attempt to operate beyond the torque limits of the drive motor
combination.
Typically parameter 768 [PositReg P Gain] should be set between 1/5th to 1/3rd
of parameter 90 [Spd Reg BW].
Parameter 768 [PositReg P Gain] may be set higher using lead compensation on
the Position Regulator Output. Lead/Lag filtering of the position regulator
output is accomplished via the speed trim 2 filter. Set parameters 25 [Strim2 Filt
Gain] and 26 [SpdTrim2 Filt BW] so that:
BW] Reg [Speed
Gain] Filt [Strim2
BW] Filt [SpdTrim2