User Manual Instruction Manual

Application Notes 13-25
13.12.4.5 Encoder Incremental Blend with Hold
This profile is the same as the previous, but contains the “Hold” function. While “Hold”
is applied, the step transition is inhibited. When released, the step can then transition
if the conditions to transition are satisfied.
13.12.4.6 Parameter Level (Param Level)
When started, the drive will ramp to the desired velocity, hold speed and compare the
parameter value of the parameter number programmed in Step Value to the Step
Dwell level. The sign of the Step Value defines “less than or greater than” Step Dwell.
When true, the profile will transition to the next step.
13.12.4.7 End
The drive ramps to zero speed and stops the profile. It clears the current step bits and
sets the “Complete” bit (14) in Profile Status (700).
13.12.5 Position Regulated Step Types and Parameters
Each of the Position Regulated steps has the following associated parameters or
functions:
13.12.5.1Encoder Absolute
This is a move to an absolute position, which is referenced from the home position.
When started the drive ramps to the desired velocity in the direction required, holds
the speed, then ramps to zero speed landing or ending at the commanded position
within the tolerance window.
13.12.5.2 Encoder Incremental (Encoder Incr)
This is a move increment from the current position in the direction, distance and speed
programmed. When started the drive ramps to the desired velocity, holds the speed,
then ramps to zero speed landing or ending at the commanded position within the
tolerance window.
13.12.5.3 End Hold Position
The drive holds the last position and stops the profile after dwell time expires. Must be
used with position regulated profile. Do Not use “End.”
Step Type Value Velocity
Accel
Time
Decel
Time
Next Step
Condtion Dwell Batch Next
Encoder
Absolute
Position
and
Direction
Speed Accel
Rate
Decel
Rate
At Position Dwell
Time
NA Next
Step
Encoder
Incremental
Position
and
Direction
Speed Accel
Rate
Decel
Rate
At Position Dwell
Time
Batch
Number
Next
Step
End Hold
Position
NA NA NA NA At Position Dwell
Time
NA Stop