Control Techniques Americas Technology Drive, Eden Prairie, MN Phone: 800-EZ-SERVO Fax: PowerTools Pro - Position Tracker ™ Application Note # AT-EP4 Rev1, 6/20/2007

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

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

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)

EP-I Setup Type Name: Position Tracker Index Count functions as normal –Allows for Continuous Tracker type

Runningthe 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.

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

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

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

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)

Analog Position: EP-B Setup Teach View, 3 methods 1.Teach from input 2.Manually enter the values 3.Read the values from the drive

Analog Position: EP-I Setup Assign the Analog input to an Index (Position)

Analog Position: EP-P Setup Assign the Analog input to Index Dist

Analog Position: SM-EZ Setup Assign the Analog input to Index Dist Values are % (0-100% = -10 to +10vdc)