User Data Sheet
Contents
1. Par Name Value Link Description The value for Speed Ref 2 comes from the virtual 1S Paene 929 master on Synchlink P929 SL Dir Data Rx00 Application 13 Speed Ref 2 Mul Dependent See notes below on setting the speed reference scale Speed Reference 2 which comes from the virtual a APRA ae paed Haie master is selected as the speed reference Application wie l 29 Jog Speed 1 Dependent Set per application requirements 23 Speed Trim 3 55 Speed Trim 3 comes from P55 Speed Comp 24 SpdTrim 3 Scale 0 003 The multiplier for speed compensation Inertia comp will add 100 of the required a p EAA RAA 1 acceleration torque during accel l Inertia comp will subtract 100 of the required ne EAEra deceleration torque during decel Application 89 Spd Err Filt BW Dependent Set to gt 5 P90 Spd Reg BW Application Gain of the speed loop The speed loop should be 90 Spd Reg BW EA tuned before enabling the position loop See the p PowerFlex700S Reference Manual for tuning tips 95 SRegOut Filt Gain 1 Disables the feed forward lead lag filter g Allows up to 200 regenerative power to flow to the Pep negan Power UM 2 dynamic brake resistor 146 FW Task Time Sel 2 Selects the regulators task time 147 FW Functions En b16 1 Enables the position regulator task b0 1 Bit 0 is on to disable the speed ramp Bit 10 is on to 151 Logic Command b10 1 enable inert2. During the advance or retard operation it is added or subtracted from the speed the drive is already running at P755 Posit Offset Spd is in units of RPMs and is set to a positive value P755 Posit Offset Spd can remain set throughout the PF700S follower s normal operation Then to advance or retard the drive using a relative position offset perform the following steps Add a value in counts in P753 Posit Offset 1 For a positive move add a positive value to P753 Fora negative move set add a negative value to P753 For example with a 1024 ppr encoder add a value of 4096 to P753 to advance the drive forward one motor revolution 1 To advance or retard the drive using an absolute position offset perform the following steps Set a 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 example with a 1024 ppr encoder set P753 to a value 1 2 3 4 of 4096 to move forward one motor revolution After the move is done set P740 Position Control bit 5 X Offset Ref to a 1 Set P753 Posit Offset 1 0 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 drives Example 1 Matching speeds of 2 machines with different mechanical ge
3. Drive Application Software Application Set APPLICATION Application Set Title Virtual Encoder Position Follower with SL SOFTWARE Drive Product PowerFlex 700S Phase II Drive File Name for AS AS_PF700SIlL_VirtEncdr_PositFollow_SL_A dno Date Firmware Rev 02 07 06 3 01 Attention This document and related file s are designed to Description Limitations Options amp Notes 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 The speed loop position loop and virtual encoder in the PowerFlex 700S Phase II drive will be used to synchronize the speed and position of the master and followers This document is for setting up the followers Electronic gearing can be used to match the speed of PowerFlex 700S Phase II drives with different mechanical gear ratios or electronic gearing can be used to make the PowerFlex 700S Phase II drives run at different ratios Requires that the motors connected to each PowerFlex 700S Phase II drive have encoders Requires dynamic braking or other method of dissipating regenerative energy in order to follow during deceleration Default configuration for 3Wire Control through digital inputs may be changed to 2Wire Control or for operation through 20 COMM x module This configuration is set for external dynamic braking The values for P416 Brake Puls
4. ar ratios In this example the each motor has a 1024 PPR encoder and the virtual master encoder is also setup for 1024 EPR 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 PPRm 1024 PPR AS_PF700SIl_VirtEncdr_PositFollow_SL_A doc Form Revision A Page 3 of 5 Inputm Outputm 533 236 AB Allen Bradley fecrnck DODGE neve pa Rockwell Automation Drive Application Software Application Set PPRf 1024 PPR Inputm Outputf 533 163 where PPRm the PPR of the master encoder PPRf the PPR of the follower encoder Inputm Outputm gear ratio of master gear box number of input teeth number of output teeth Inputf Outputf gear ratio for follower gear box number of input teeth number of output teeth P745 PPRfelnputfeOutputm _ 1024 e 533 236 P746 PPRm e Inputm e Outputf 1024 e 533 e 163 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 P746 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 P13 Speed Ref 2 Mult is calculated PI3 Inputf Outputm _ 533236 _ 1 Inputme Outputf 5330163 Notice that the encoder PPRs should
5. c Str ea CKWE Te Form Revision A T Rockwell Page 4 of 5 Automation Drive Application Software Application Set Allen Bradley ARANESI DODGE AS_PF7O00SII_VirtEncdr_PositFollow_SL_A doc pome Rockwell Form Revision A m Page 5 of 5 Automation
6. eWaitts and P417 Brake Watts must be loaded by the user After downloading the dno file power must be cycled on the master and follower drives to initialize SynchLink After downloading dno file the Motor Data Fdbk Config Pwr Circuit Diag Direction Test Motor Tests and Inertia Measure parts of the Startup routine should be performed to auto tune the PF700S2 drive to the motor Please see the notes at the end of this document for information on independently jogging the master and follower drives using the position offset and setting up the electronic gear ratios Drive Input amp Output Connections Inputs Function Description Dir 1 Dir Zz Dr Si 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 Al Al WI N RF oy O1 e AI Encoder 0 Motor Feedback Encoder Input 0 is wired to the encoder on the Follower Motor Encoder 1 Outputs Function Description DORN DO DO AO AO WIN F N AO AS_PF700SIl_VirtEncdr_PositFollow_SL_A doc Allen Bradley slid gf DODGE ROCKWELL Form Revision A Page 1 of 5 me Rockwell Automation Drive Application Software Application Set Parameter Configurations Follower Drives Changes from Default Parameter Settings
7. ia compensation Bit 13 can be turned b13 1 on off to enable disable the position loop 232 Encoderd PPR Applicangn Sets the PPR for the PF700S motor feedback Dependent b0 1 b1 1 Sets the drive up to do dynamic braking w external st eusibrake Ong b2 1 resistor first then bus regulation b3 1 Application Sets the watt second rating of the external dynamic ote ieee eats Dependent brake resistor Application Sets the continuous watt rating of the external ay Ara wats Dependent dynamic brake resistor n _ Bit 1 is turned on to send the output of the position 740 Position Control b01 1 loop to the speed regulator The position reference comes from the master over CAG AUK ROSIER 930 Synchlink P930 SL Dir Data Rx01 This sets the multiplier for the position reference Application electronic gear ratio This parameter has a settable 12 gt reer Dependent range from 2000000 to 2000000 See notes on setting the gear ratio Application This sets the divider for the position reference 746 PositRef EGR Div Dependent electronic gear ratio This parameter has a settable range from 1 to 2000000 AS_PF700SII_VirtEncdr_PositFollow_SL_A doc Form Revision A Page 2 of 5 AB Allen Bradley amei DODGE neveg Rockwell Automation Drive Application Software Application Set i Application Sets the proportional gain for the position loop Set 768 Aaa Dependent th
8. is to 1 5 of P90 after done tuning the speed loop Used to independently jog the PF700S2 follower drive Bet eins aA Jog 1 when the drive is not operating as a position follower 828 Digln4 Sel Start Start input for 3Wire Control 829 Digln5 Sel Normal Stop Stop input for 3Wire Control 928 Rx Dir Data Type bO 1 Direct Data configured as Real 904 SL Node Cnfg b2 1 Configures the follower drive to synch to the master 9 0A 4D Selects the format of the receive data to receive 4 905 SL Rx Format 8B i direct words 50usec and 8 buffered words 0 25 msec 9 0A 4D Selects the format of the transmit data to transmit 4 910 SL Tx Format 8B direct words 50usec and 8 buffered words 0 25 msec 22 Dir Rx Sends on the value of P43 S Curve Spd Ref from the A RETE Draci Al Data Master drive to the next drive on Synchlink 22 Dir Rx Sends on the value of P62 Virt Encdr Posit from the hee eee ees Data Master drive to the next drive on Synchlink Notes for jogging the PowerFlex 700S drives 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 drives Before advancing or retarding the PF700S 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 drive
9. 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 4479 Example 2 Using electronic gearing to make the 2 machines run at different ratios In this example the each motor has a 1024 PPR encoder and the virtual master encoder is also setup for 1024 EPR The motors are directly coupled to the load and we want the follower to run at 4 times the speed of the master PPRm 1024 PPR PPRf 1024 PPR Ratiof Ratiom 4 1 where PPRm the PPR of the master encoder PPRf the PPR of the follower encoder Ratiof Ratiom the desired ratio between the follower speed and the master speed P745 PPRfeRatiof _ 1024 e4 P746 PPRmeRatiom 1024 e1 Solving for the lowest common denominator the 1024s on the top and bottom cancel out so that P745 4 P746 1 Therefore P745 PositRef EGR Mul 4 and P745 PositRef EGR Div 1 This will set up the position loop of the follower to move 4 counts for every 1 count of the master P13 Speed Ref 2 Mult is calculated pi3 Ratio _ 4 _ 4 o000 Ratiom 1 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 follower tracks at 4 times the master s speed Allen Bradley PREP DODGE AS PF7O00SII_VirtEncdr_PositFollow_SL_A do
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