PowerTools Pro Position Tracker

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PowerTools Pro - Position Tracker

• Application Note AT-EP4
• Rev1, 6/20/2007

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Position Tracker -What is it?

• New type of index
• Absolute, continually adjustable index
• Idea was an extension of the Analog Position mode
• Continuous indexing feature is active as long as
  the index is active
• Two sub-modes
• Analog Position mode
• Fieldbus Position mode

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Position Tracker -Where is it used?

• Allows a customer to replace a PLC based position
  controller ( 2k) with either an analog output
  card (300) or a Communications card.
• Allows the user to start and index prior to
  knowing the absolute end position.
• Allows a simple analog source to control motor
  position for manual positioning operations.
• Allows an HMI to change the motor position with a
  single numeric value
• Provides for a simple interface from any
  non-industrial controller to the drive

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Position Tracker Sources

• Fieldbus
• Simply send the Absolute Position values to the
  Index Distance parameter
• EP-I Modbus RTU, DeviceNet
• EP-P Modbus RTU, Modbus TCP, Devicenet,
  Ethernet/IP, Profibus
• Demo the feature with PowerTools
• Analog Input
• Direct reading of the analog input
• User Scalable (Volts / User Units)

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EP-I Setup

• Type Name Position Tracker
• Index Count functions as normal
• Allows for Continuous Tracker type

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Running the Index -EP-I

• Only the Position parameter is updated
• Position Tracker
• Index is active until the Commanded Position
  Actual Position. At this point the Index is
  complete and will no longer accept new position
  values.

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EP-P, SM EZMotion Setup

• Type Name Posn Track Cont.
• Index Initiate is level sensitive
• Type Name Posn Track Once
• Index Initiate is edge sensitive

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Running the Index -EP-P, SM EZMotion

• Position, Velocity, Accel all updated
• Linear ramps recommended
• Posn Track Cont.
• Index Initiate is level sensitive
• User controls the Input or Program state
• I/O or Program control (no mixed mode)
• Tracking.Stop program command
• Posn Track, Once
• Index is active until the Commanded Position
  Actual Position

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Analog Position EP-B Setup

• Set the Operating Mode as Velocity, Torque, or
  Pulse
• Enable the Analog Position mode with an input.
  Analog Position functions as an Alternative mode
• Set Analog Position Mode Directly

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Analog Position EP-B Setup

• Use Inputs to
• Enable Analog mode (Changes mode from Velocity or
  Torque to Analog Input mode)
• Teach the Low then High set points
• Define the Low point (homing)

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Analog Position EP-B Setup

• Teach View, 3 methods
• Teach from input
• Manually enter the values
• Read the values from the drive

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Analog Position EP-I Setup

• Assign the Analog input to an Index (Position)

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Analog Position EP-P Setup

• Assign the Analog input to Index Dist

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Analog Position SM-EZ Setup

• Assign the Analog input to Index Dist
• Values are (0-100 -10 to 10vdc)

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