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Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 313

Out of Box Configuration for PowerFlex Drives Appendix B

Profile Operand

This operand has two profile types:

• Trapezoidal Velocity Profile

• S-curve Velocity Profile

Trapezoidal Velocity Profile

The trapezoidal velocity profile is the most commonly used profile because it

provides the most flexibility in programming subsequent motion and the

fastest acceleration and deceleration times. Acceleration and deceleration

specify the change in velocity per unit time. Jerk is not a factor for trapezoidal

profiles. Therefore, it is considered infinite and is shown as a vertical line in the

following graph.

VelocityAccelJerk

Time

Trapezoidal Accel/Decel Time

Default Chapter3
- Table of Contents3
- Additional Resources9
Preface9
- Summary of Changes9
Chapter 111
Controller, Communication, Drive, and Software Options11
- Module Options11
- Integrated Motion on Ethernet/Ip Drives13
- Software Options13
- Options for Powerflex 755 Drives16
- Configuration and Startup Scenarios18
- Help for Selecting Drives and Motors20
- Create a Controller Project21
  - Configure Integrated Motion Control Using Kinetix Drives21
Chapter 224
- Set Time Synchronization24
- Add an Ethernet Communication Module26
- Add a Kinetix Ethernet/Ip Drive32
Chapter 336
- Configure the Safety Category - Kinetix 5500 Drives36
- Configure the Power Options37
- Configure Digital Inputs39
- Create an Associated Axis40
  - Create an Axis for a Kinetix Drive40
  - Establish Feedback Port Assignments41
- Create a Motion Group42
  - Set the Base Update Period44
- Configure the Axis Properties46
- Configure the Associated Axis and Control Mode47
- Specify the Motor Data Source50
- Assign Motor Feedback54
- Display Motor Model Information54
- Configure the Load Feedback55
- Configure Feedback Only Axis Properties57
  - Configure Integrated Motion Control Using Kinetix 5700 Drives59
- Configure the Master Feedback57
Chapter 4 Ethernet/Ip Drive60
- Configure the DC-Bus Power Supply and Associate an Axis60
- Configure the Regenerative Bus Supply64
- Continue Inverter Configuration69
- Configure the Inverter Drives72
- Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive80
- Create a Motion Group83
  - Set the Base Update Period84
- Configure the Axis Properties86
- Configure the Associated Axis and Control Mode88
- Specify the Motor Data Source91
- Assign Motor Feedback95
- Display Motor Model Information95
- Configure the Load Feedback97
- Configure the Master Feedback98
- Add a Powerflex 755 Drive99
  - Configure Integrated Motion Using a Powerflex 755 Drive99
Chapter 5101
- Select a Peripheral Feedback Device and Slot Assignment101
- Select an I/O Device102
- Assign a Power Structure104
- Configure Power Options106
- Configure Digital Inputs107
- Configure Digital Outputs108
- Create an Associated Axis109
- Configure the Axis Properties115
- Configure the Associated Axis and Control Mode116
- Specify the Motor Data Source119
- Display Motor Model Information123
- Assign Motor Feedback125
  - Rockwell Automation Publication MOTION-UM003K-EN-P - January126
  - Configure Integrated Motion Using a Powerflex 527 Drive129
- Add a Powerflex 527 Drive130
Chapter 6130
- Set the Network Configuration130
- Configure the Powerflex 527 Drive132
- Configure Digital Inputs138
- Create an Axis for a Powerflex 527 Drive138
- Create the Motion Group139
- Configure the Axis Properties140
- Configure the Associated Axis and Control Mode142
Chapter 7 About Axis Scheduling146
- Timing Model147
  - One Cycle Timing148
  - Two Cycle Timing149
- Axis Scheduling Configuration150
- Configure the Update Periods151
- Motion Utilization158
- Example 1: Position Loop with Motor Feedback Only159
Chapter 8163
- Example 2: Position Loop with Dual Feedback163
- Example 3: Feedback Only167
- Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback172
- With Motor Feedback176
  - Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback176
- With no Feedback180
  - Example 6: Kinetix 5700 Drive, Frequency Control with no Feedback180
- Example 7: 842E-CM Integrated Motion Encoder with Master Feedback183
Chapter 9188
- UFB Feedback Device188
  - Example 1: Position Loop with Motor Feedback Via a UFB Feedback Device188
- Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device191
- Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device196
- UFB Feedback Device196
- Example 4: Velocity Loop with no Feedback199
- Example 5: Frequency Control with no Feedback202
- Example 6: Torque Loop with Feedback206
  - This Chapter Provides Example Axis Configurations When Using a209
- Example 1: Frequency Control with no Feedback210
Chapter 10 Example 2: Velocity Control with Motor Feedback214
- The Powerflex 527 Drive Example 2: Velocity Control with Motor Feedback214
- Example 3: Position Control with Motor Feedback217
Chapter 11 Commission an Axis Scaling222
- Direct Coupled Rotary223
- Direct Coupled Linear224
- Rotary Transmission224
- Linear Actuator225
- Changing Scaling Factors225
Scaling222
- Hookup Tests226
- Applying the Commutation Hookup Test232
- Run a Commutation Test234
- Autotune235
- Polarity235
- Load239
- Load Observer241
- Adaptive Tuning243
- Load Ratio Data from Motion Analyzer249
- Test an Axis with Motion Direct Commands249
Chapter 12 Guidelines for Homing256
- Active Homing256
- Passive Homing257
Homing256
- Examples258
  - Active Homing258
  - Passive Homing261
- Absolute Position Recovery (APR)262
- APR Faults269
Chapter 13 When to Manually Tune an Axis275
- Axis Configuration Types275
- Current Tuning Configuration276
- Loop Responses277
- Motion Generator and Motion Direct Commands279
Manual Tune275
- Additional Tune281
- Monitor Tags with the Quick Watch Window285
- Use Motion Generator286
Faults and Alarms Dialog Box289
Chapter 14291
- Quickview Pane291
- Connection Faults and Errors292
- Data Monitor292
- Drive Status Indicators292
- Manage Motion Faults293
- Troubleshoot Faults293
- Configure the Exception Actions for AXIS_CIP_DRIVE294
- Inhibit an Axis297
  - Example: Inhibit an Axis298
  - Example: Uninhibit an Axis299
- Digital I/O Status Indicators300
Parameter Dialog-Box Listings303
Appendix A305
Appendix B305
- Definition of Jerk305
- Choose a Profile306
- Use % of Time for the Easiest Programming of Jerk307
- Velocity Profile Effects308
- Jerk Rate Calculation308
- Profile Operand313
- Program a Velocity Profile and Jerk Rate305
- Enter Basic Logic316
  - Example Motion Control Program317
  - Download a Project318
- Choose a Motion Instruction318
- Troubleshoot Axis Motion321
- Programming with the MDSC Function329
- Powerflex Out-Of-Box Configuration332
  - Recommended Out-Of-Box Settings332
- Setting the ACO/AVO Attributefor PF527 Drives Only336
Glossary337
Index341
- Rockwell Automation Publication MOTION-UM003K-EN-P - January342

Brand	Allen-Bradley
Model	PowerFlex 755
Category	Controller
Language	English

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