User Manual Instruction Manual
13-28
GV6000 AC Drive User Manual
When “Pos Redefine” is set, the present position is established as Home and Units
Traveled (701) is set to zero.
• Disable Homing Requirement
If a home position is not required, the routine can be disabled by clearing Alarm
Config 1(259), bit 17 (Prof SetHome) to “0”. This will disable the alarm from being set
when Pos/Spd Profile mode is configured in Speed/Torque Mod and will set the
present position as Home.
Once Homing is complete the Find Home command must be removed to allow the
profile to be run. If the Find Home command is not removed, when the drive is started
the routine will see that it is At Home and the drive will stop.
13.12.7 Example 1: Five Step Velocity Profile (Time-Based and
Encoder-Based)
The first three steps are “Time” steps followed by an “Encoder Abs” step to zero and
then an “End” step. For each Time step the drive ramps at Step x AccelTime to Step x
Velocity in the direction of the sign of Step x Velocity. The drive then decelerates at
Step X DecelTime to zero. The Step X Value is programmed to the desired time for the
total time of the accel, run and decel of the step. Each step has a 1 second time
programmed in Step X Dwell which is applied to the end of each step. After the dwell
time expires, the profile transitions to the next step. The absolute step is used to send
the profile back to the home position. This is done by programming Step 4 Value to
zero.
Figure 13.11 – Time Example
Step #
Step x
Type
Step x
Velocity
Step x
Accel
Time
Step x
Decel
Time
Step x
Value
Step x
Dwell
Step x
Batch
Step x
Next
1 Time 100 0.5 0.5 5.00 1.00 1 2
2 Time 200 0.5 0.5 5.00 1.00 1 3
3 Time 300 0.5 0.5 5.00 1.00 1 4
4 Encoder
Abs
400 0.5 0.5 0.00 1.00 1 5
5End NA NA 0.5 NA 0.00 NA NA
5s
5s
5s
Step 1
Step 2
Step 3
Time
Step 4
Step 5
-450
-150
-250
-350
50
-50
150
250
350
0
25
20
15
10
5
35
30
40
45
50
33
Note: there is no "At Position"
indication when using timed steps
53 73 93 153113 133
13
Encoder Speed (415) Units Traveled (701) Current StepProfile Status (700)