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134 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Chapter 1 Detail Drive Configuration and Operation
Accel/Decel Ramp and S-Curve
The accel/decel ramp generator can be bypassed for certain functions. When
parameter 151 [Logic Command] bit 0 - “SpdRamp Dsbl” is on, the ramp is
bypassed. Otherwise, the reference is ramped according to the rates determined
by parameters 32 [Accel Time] and 33 [Decel Time]. For example, the ramp rate
for acceleration would be [Motor NP RPM]/[Accel Time]. The ramped
reference can be viewed in parameter 42 [Ramped Spd Ref ].
The drive can produce a linear ramp output or an s curve signal. The s curve is
used when [Logic Command] bit 1 - “Spd S Curve En” is on and the ramp is not
bypassed. Parameter 34 [S Curve Time] sets the time that the s curve will be
applied at the beginning and at the end of the ramp. Half of the time specified in
parameter 34 is added to the beginning of the ramp and half to the end of the
ramp (as shown in the example below). The result of the s curve block can be seen
in parameter 43 [S Curve Spd Ref ].
32
33
34
Inv
Logic
1 0
0 1
157 01
&
157 02
151 00
151 01
4342
Ramp S Curve
Logic
1 0
0 1
S Curve Spd RefRamped Spd Ref
S Curve Time
Accel Time
Decel Time
Logic Command
(Spd S Crv En)
Logic Ctrl State
(SRef Ramp En)
Logic Ctrl State
(SRef SCrv En)
S Curve Time = 1.0 second
Speed
Time in Seconds
0.5 sec.
Accel Time = 5.0 seconds
Total Ramp Time = 6.0 seconds
0.5 sec.
- Reference Manual 1
- Important User Information 2
- Summary of Changes 3
- New and Updated 3
- Information 3
- Table of Contents 5
- Appendix A 10
- History of Changes 10
- Additional Resources 11
- Chapter 1 13
- Accel Time 13
- Analog Inputs 14
- Analog Outputs 15
- Analog Output Configuration 16
- Auto/Manual 17
- Autotune 17
- Motor Control 18
- Motor Data 18
- Feedback Configuration 18
- Power Circuit Test 18
- Direction Test 19
- Motor Tests 19
- Auxiliary Power Supply 20
- Bus Regulation/Braking 20
- Cable, Control 24
- Cable, Motor Lengths 24
- Cable, Power 24
- Cable Trays and Conduit 24
- Carrier (PWM) Frequency 25
- CE Conformity 26
- Common Bus Systems 26
- Communication 26
- ControlNet (20-COMM-C) 26
- ControlLogix Programming 31
- Explicit Messaging 32
- Copy Cat 33
- Current Limit 33
- Datalinks 34
- Example Configuration 2: 35
- “Data Out” Parameters 35
- Example Configuration 3: 35
- Example Configuration 4: 35
- Decel Time 36
- DeviceNet (20-COMM-D) 36
- ControlLogix 37
- Digital Inputs 42
- SyncLink 43
- Configuration Example 45
- Digital Input Status Bits 45
- Digital Outputs 46
- Reference 47
- Drive Overload 48
- 150% * 3 s + 100%*57 s 49
- Drive Overtemperature 50
- (Frame 9 Only) 50
- Drive Peripheral Interface 50
- Peer-to-Peer Operation 51
- DriveLogix 52
- Dynamic Braking 53
- Efficiency 53
- Electronic Gearing 53
- Application Example: 54
- Key Words 54
- Nomenclature: 54
- Low Pass Filter 55
- Second Order Low Pass Filter 55
- Lead-Lag Filter 56
- Lead-Lag Filter “Lead” 57
- Notch Filter 59
- Figure 20 - Resonance 60
- Figure 21 - 10 Hz Notch 61
- Conclusion 61
- Flying Start 62
- Preset Frequency Search 63
- Hysteresis 65
- Number of 65
- Time Stops 65
- Grounding, General 66
- HIM Memory 66
- HIM Operations 66
- Inertia Adaptation 67
- Using the HIM 70
- Using DriveExecutive 71
- Motor Control Mode 72
- Motor Nameplate 73
- Motor Overload 73
- High Overload 74
- Motor Start/Stop Precautions 75
- Mounting 75
- Output Devices 76
- Output Display 76
- Overspeed Limit 77
- Permanent Magnet Motors 79
- Position Loop - Follower 82
- (Electronic Gearing) 82
- Speed Reference Selection 83
- Speed Reference Ramp 83
- Enabling the Position Loop 84
- Position Reference Selection 84
- Position Offset 85
- Position Loop Output Limits 86
- Tuning Tips 86
- Position Loop - In Position 87
- Overview 88
- Position Reference Scaling 89
- BW] Reg [Speed 91
- Gain]Filt [Strim2 91
- BW]Filt [SpdTrim2 91
- Position Loop - Position 92
- Position Loop - Registration 94
- Power Loss/Ride Through 95
- Ride Through Operation 97
- Ride Through Configuration 97
- Ride Through Timeout Fault 98
- Precharge Operation 98
- Precharge Timeout Fault 100
- External Precharge 101
- Precharge Staging 101
- Process PI Loop 102
- Process PI Regulator 103
- Process PI Limits 103
- Pulse Elimination Technique 104
- Reflected Wave 104
- Time (μsec) 105
- Remote I/O Adapter 106
- (20-COMM-R) 106
- Adapter PowerFlex 700S 107
- Datalink Programming 111
- Example: 112
- SLC/PLC-5 System 114
- Copy File 117
- Source #N13:112 117
- 1 117
- Source #F12:6 118
- #F13:12 118
- 2 118
- RFI Filter Grounding 119
- Speed Control, Speed Mode 119
- Speed Regulation 119
- Speed PI Regulator 120
- Autotune Speed Reference 121
- Speed Reference Limits 122
- Current Limit Stop 122
- Speed Error 122
- Servo Lock 123
- Speed Regulation Anti-Backup 123
- Proportional Gain 124
- Integral Gain 124
- Speed Regulator Output Limits 126
- Speed Regulator Output Filter 126
- Speed Regulator Tuning 127
- •ft. Tacc can be 129
- Speed Reference 130
- Speed Reference Scaling 131
- Speed Reference Select 132
- Jog Reference 133
- Stop Command 133
- Speed Limits 133
- Accel/Decel Ramp and S-Curve 134
- Inertia Compensation 135
- Friction Compensation 135
- Virtual Encoder 135
- Speed Reference Filter 136
- Speed Reference Scale 136
- Speed/Position Feedback 137
- Encoder 0 141
- Processing 141
- Sensorless 142
- Motor Simulator 142
- Feedback Option Cards 143
- Bit 3 2 Resolution Setting 145
- Motor Position Feedback 147
- Speed/Torque Select 152
- Torque Regulation Mode 153
- Min Mode / Max Mode 154
- Sum Mode 154
- Start Inhibits 155
- Start/Stop Modes 156
- Start-Up 160
- Stop Modes 160
- SynchLink 160
- SynchLink Direct Data 161
- Multiply Block 162
- Buffered Data 163
- Direct Data 165
- Int Real 166
- 64 Parameters 166
- 9. Click the Link Data tab 170
- 11. Click OK 170
- Cycle Power 173
- Sync Generator 174
- Test Points 174
- Thermal Regulator 175
- Torque Reference 175
- Unbalanced or Ungrounded 176
- Distribution Systems 176
- User Functions 177
- Two Position Dint Switch 178
- Configuration: 178
- Voltage Class 180
- Watts Loss 181
- Appendix A History of Changes 184
- Rockwell Automation Support 190
- Documentation Feedback 190
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