Drive Application Software
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1. loop of the follower to move 4 counts for every 1 count of the master p11 Speed Ref 1 Div is calculated Ratio 1 0 25 11 P Ratio 4 Notice that the encoder PPR s should not be included in the calculation for p11 This parameter is rounded to the 4 decimal place The position loop gear ratios will be exact so that the follower tracks at 4 times the master s speed Allen Bradley PREP DODGE AS_PF7O00SII_PositionFollower_A doc Sure CKWE Te Form Revision A g Rockwell Page 4 of 4 Automation2. Drive Application Software Application Set Application Set Title Drive Product File Name for AS Date Firmware Rev Attention Description Limitations Options amp Notes APPLICATION SOFTWARE Position_ Follower PowerFlex 700S Phase II Drive AS_PF700SII PositionFollower_A dno 02 06 06 3 01 This document and related file s are designed to supplement configuration of the listed drive product The information provided does not replace the drive products user manual and is intended for qualified personnel only Position Follower application is designed to follow the encoder feedback from another machine section the master The speed loop and position loop in the PowerFlex 700S Phase II drive will be used to synchronize the speed feedback encoder of the follower PowerFlex 700S Phase II motor to the master encoder Electronic gearing can be used to match the speed of 2 machines with different gear ratios or electronic gearing can be used to make the 2 machines run at different ratios Requires that the motors connected to each PowerFlex 700S Phase II drive have encoders Default configuration for 3Wire Control through digital inputs may be changed to 2Wire Control or for operation through 20 COMM x module After downloading dno file the Fdbk Config Pwr Circuit Diag Direction Test Motor Tests and Inertia Measure parts of the Startup routine should be performed t
3. n the master accel Or the speed ramp can be disabled by turning on bit 0 in p151 Logic Command 33 Decel Time Set to a value lower than the master decel Or the speed ramp can be disabled by turning on bit 0 in p151 Logic Command 90 Spd Ref BW 10 Gain of the speed loop The speed loop should be tuned before enabling the position loop See the PowerFlex700S Reference Manual for tuning tips 151 Logic Command b13 1 Bit 13 can be turned on off to enable disable the position loop 232 Encoder0 PPR 1024 Sets the PPR for the motor feedback 242 Encoder1 PPR 1024 Sets the PPR for the master encoder 740 Position Control b01 1 Bit 1 is turned on to send the output of the position loop to the speed regulator 742 Posit Ref Sel 1 AuxPosit Ref Sets the position loop to follow the auxiliary position reference which in this case will be Encdr1 Position 743 Aux Posit Ref 240 Encoder counts from Encdr1 master becomes the position reference 745 PositRef EGR Mul This sets the multiplier for the position reference electronic gear ratio The settable range is 2000000 to 2000000 See notes on setting the gear ratio 746 PositRef EGR Div This sets the divider for the position reference electronic gear ratio The settable range is 1 to 2000000 See notes on setting the gear ratio 753 Posit Offset 1 This sets a po
4. o auto tune the Power Flex 700S Phase II drive to the motor Drive Input amp Output Connections Inputs Function Description Dr 1 Dr Zz DiS Jog 1 This Option is used to independently jog the PF700S2 follower drive when the drive is not operating as a position follower DI Start DI Stop DI JAIL AI WY N RF oo oO amp AI Encoder 0 Primary PF700S Motor Feedback Encoder Input 0 is wired to the quadrature encoder on the PF700S2 Motor Encoder 1 Secondary Feedback from master Encoder Input 1 is wired to the master encoder Outputs Function Description DOR DO DO AO AO WIN F N AO AS_PF700SII_PositionFollower_A doc Form Revision A Page 1 of 4 Allen Bradley SAE DOGE cere Rockwell Automation Drive Application Software Application Set Parameter Configurations Changes from Default Parameter Settings Par Name Value Link Description 10 Speed Ref 1 241 Speed feedback from Encdr1 master becomes the speed reference for the PF700S2 11 Speed Ref 1 Div 1 Sets the ratio between the master speed reference and the PF700S2 follower See notes on setting the gear ratio and speed reference scaling 29 Jog Speed 1 100 RPM Set per application requirements 32 Accel Time 1 Set to a value lower tha
5. rol Notes for jogging the PowerFlex 700S Phase II follower drive independently Command Jog 1 through a digital input or communication network During a jog command the position loop output of the drive is automatically disabled Notes for controlling the position offset of the PowerFlex 700S Phase II follower drive Before advancing or retarding the PowerFlex 700S Phase II follower drive p755 Posit Offset Spd needs to be set to a value other than 0 p755 Posit Offset Spd sets the speed change used to advance or retard the follower During the advance or retard operation it is added or subtracted from the speed the follower already running p755 Posit Offset Spd is in units of RPM s and is set to a positive value p755 Posit Offset Spd can remain set throughout the PowerFlex 700S Phase II follower s normal operation To advance or retard the follower using a relative position offset perform the following steps 1 Adda value in counts in p753 Posit Offset 1 For a positive move add a positive value to p753 Fora negative move add a negative value to p753 For example with a 1024 ppr encoder add a value of 4096 to p753 to advance the follower forward one motor revolution To advance or retard the follower using an absolute position offset perform the following steps 1 Seta value in counts in p753 Posit Offset 1 For a positive move set p753 to a positive value Fora negative move set p753 to a negative value For e
6. sition offset to advance or retard the follower if necessary This can be set from a PLC and can be a positive or negative value See notes on using the position offset 755 Posit Offset Spd 175 RPM Sets the speed change used to advance or retard the follower when a value set in p753 Set per application requirements 768 PositRef P Gain Sets the proportional gain for the position loop Set to 1 5 20 of p90 after tuning the speed loop 775 Xreg Spd LoLim 175 RPM Sets the negative speed limit for the output of the position loop This should be set the same as the negative value of p755 Position Offset Spd 776 Xreg Spd HiLim 175 RPM Sets the positive speed limit for the output of the position loop This should be set the same as the positive value of p755 Position Offset Spd 146 FW Task Time Sel 2 Selects the regulators task time AS_PF700SII_PositionFollower_A doc Form Revision A Page 2 of 4 AB Allen Bradley amei DODGE ie Rockwell Automation Drive Application Software Application Set Par Name Value Link Description 147 FW Functions En b16 1 Enables the position regulator task Used to independently jog the PF700S2 follower when 827 Digin3 Sel dog the position loop is disabled 828 Digln4 Sel Start Start input for 3Wire Control 829 DigIn5d Sel Normal Stop Stop input for 3Wire Cont
7. tion Set Solving for the lowest common denominator the 1024s on the top and bottom cancel out and the 533s on the top and bottom cancel out so that p745 236 p146 163 Therefore P745 PositRef EGR Mul 236 and P745 PositRef EGR Div 163 This will close the position loop and the angular velocities of the master and follower will match exactly p11 Speed Ref 1 Div is calculated Input eOutput 533 e163 0 6907 Input eOutput 533 e 236 p11 Notice that the encoder PPRs should not be included in the calculation for P11 This parameter is rounded to the 4 decimal place The position loop gear ratios will be exact so that the master and follower track exactly Example 2 Using electronic gearing to make the 2 machines run at different ratios In this example the encoders are mounted on the motors The motors are directly coupled to the load and we want the follower to run at 4 times the speed of the master PPR 1024 PPR PPR 1024 PPR Ratio Ratio 4 1 where PPR the PPR of the master encoder PPR the PPR of the follower encoder Ratio Ratio the desired ratio between the follower speed and the master speed p145 _ PPR Ratio 102404 p146 PPR Ratio 1024e1 Solving for the lowest common denominator the 1024 s on the top and bottom cancel out so that pias _4 p746 1 Therefore P745 PositRef EGR Mul 4 and P745 PositRef EGR Div 1 This will set up the position
8. xample with a 1024 ppr encoder set p753 to a value of 4096 to move forward one motor revolution 2 After the move is done set p740 Position Control bit 5 X Offset Ref to a 1 3 Set p753 Posit Offset 1 0 4 Set p740 Position Control bit 5 X Offset Ref to a 0 p753 Posit Offset 1 and p740 Position Control can be controlled over a communication network Notes for setting the gear ratio and speed reference scaling on the PowerFlex 700S Phase II follower drive Example 1 Matching speeds of 2 machines with different gear ratios In this example the encoders are mounted on the motors There is a gear box between each motor and each machine Each gear box has a different ratio We want to match the speeds on the output side of the gear box machine side Here is the given information PPR 1024 PPR PPR 1024 PPR Input Output 533 236 Input Output 533 163 where PPR the PPR of the master encoder PPR the PPR of the follower encoder Input Output gear ratio of master gear box number of input teeth number of output teeth Input Output gear ratio for follower gear box number of input teeth number of output teeth p145 T PPR s Input eOutput fie 1024 533 236 p146 PPR eInput eOutput 1024 e 533 e 163 Allen Bradley Perai AS_PF700SII_PositionFollower_A doc at tl Form Revision A T Rockwell Page 3 of 4 Automation Drive Application Software Applica
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