1. PowerTools Pro - Position Tracker ™
Application Note # AT-EP4
Rev1, 6/20/2007

2. 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

3. 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

4. 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)

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

6. 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.

7. 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

8. 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

9. 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

10. 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)

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

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

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

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