This document provides instructions for a lab using a PowerFlex 755 drive to demonstrate position camming (PCAM) functionality. The lab guides the user through resetting the drive to defaults, configuring PCAM parameters using DriveTools software, and running two PCAM configurations. The first runs the motor in a 1:1 ratio to the handwheel. The second uses multiple cam points to produce a "flying shear" profile where the motor reverses direction over the range of the handwheel. Scaling the PCAM profile depth is also demonstrated.

1. DRV10 – PowerFlex 755
Lab 3 PCAM
Jason Nadeau
Drives Motion Commercial Engineering

3. DRV10 — PowerFlex 755 PCAM
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Contents
About this lab..............................................................................................................................................4
Tools & prerequisites ....................................................................................................................................4
Lab Setup .....................................................................................................................................................4
Understanding the Use of VMWare® in this Lab..........................................................................................4
Reset Drive to Defaults ..............................................................................................................................5
Configuring the PF755 for PCAM control.................................................................................................7
Configureing the Parameter Selectors for PCAM.......................................................................................12
Configuring the parameter data values for PCAM......................................................................................13
Running Configuration.............................................................................................................................14
Configuration #2 .......................................................................................................................................15
Block diagrams associated with PCAM..................................................................................................17

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About this lab
This lab is designed to familiarize the attendee with the PowerFlex 755 Position Camming (PCAM) feature..
This lab takes approximately 30 minutes to complete.
Tools & prerequisites
Windows XP PC with DriveTools SP (v5.01 or higher)
PowerFlex 755 demo case
External Motor application module
External Brake application module
Ethernet crossover cable
Lab Setup
Verify that the Ethernet crossover cable is connected from the Personal Computer to the embedded Ethernet
port of the PowerFlex 755.
Verify that the AC motor is plugged into the External Motor connector on the back of the PF755 demo.
Verify that the external encoder is connected to the Encoder connector on the back of the PF755 demo.
Verify that the external dynamic brake resistor is plugged into the Aux Output connector on the back of the
PF755 demo.
Turn the ‘DRIVE POWER’ selector switch to the ‘ON’ position
Turn the ‘24VDC CONTROL POWER’ switch to the ‘ON’ position
Understanding the Use of VMWare® in this Lab
The screen on the monitor in front of you is not that of the host computer. You are actually interacting with a
“Virtual Machine.” In order to return the computers to a known state at the beginning of each lab session, we
use VMWare.
As a result, some of the familiar keyboard commands for the Windows® operating system are a little different.
For instance, The “Ctl + Alt + Del” command does not function as you would expect. Instead, you should use
“Ctl + Alt + Ins”.
In addition, you may notice some performance degradation. After all, you are using a “Virtual Machine” that does
not have access to all of the computing resources of the real host machine. The software will run better on a real
machine

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Reset Drive to Defaults
Resetting the drive to defaults ensures that there are no previous configurations lingering that could adversely
affect the setup for Direct Position Reference Selection.
1. Navigate HIM to the Status Screen (default power-up screen)
2. Press the ‘Folders’ button on the HIM keypad. The button is located on the bottom row of the HIM
Keypad. This will bring up the folder screen.
3. Use the left or right arrow keys to scroll through the different folders, to locate the folder
called ‘MEMORY’.
4. Use the up or down keys to navigate to the ‘Set Defaults’ selection and press enter key
to select.

6. 5. Then select ‘Host and Ports (Preferred) and press enter key to select.
6. A warning popup will appear, press the soft key to confirm.
7. The drive will fault on a Fault Code 48 System Defaulted fault; press the ‘CLR’ soft key to clear faults.
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7. Configuring the PF755 for PCAM control
This lab will use DriveTools for the method of setting up and configuring of the PowerFlex 755’s PCAM feature,
as of this time there are no wizards or HIM assisted configurations. The HIM will be used to perform the
assisted start to configure the drive to the motor.
Using the H.I.M. Module perform assisted startup.
1. Navigate HIM to the START UP folder screen. The default selection is ‘Begin Start Up’ press enter key
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to select.
2. The into to the start up screen will appear, press soft key ‘ENTER’ to continue.
3. Follow Startup Screens choosing ‘General Startup’ for the Startup type; the below list will assist in values
and selections required during the assisted startup.

8. a. The first step in the start up is ‘Motor Control’, select this option and press the enter key.
o First screen motor control screen is an into screen, press the soft key ‘ENTER’ to
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continue.
o Select the following:
’Flux Vector’ for the Motor Control
‘Induction‘ for the Motor Type
’Speed’ for the Control Mode
o Under ‘Motor Data’ enter the Motor nameplate data; be cautious to read the screen and
either use the soft key ‘ENTER’ or the navigation screen enter as required.
Choose ‘RPM’ for speed units
b. Under ‘Feedback’ step
o ’Feedback’ for the Speed Feedback Select
o
For Pri Vel Fdbk Sel use press the ‘LIST’ soft key to choose the Port

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o
Use the navigation keys or down to select ‘Port 05 UNI’ (Universal
Feedback Option) then press the enter navigation key
o
press the Scroll Down soft key to select the Param selector then the ‘LIST’ soft key
o
then use the navigation keys or down to select ‘Fdbk0 Position’ then
press the enter navigation

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o
Use the or scroll soft keys or type value of 12 to select ‘Incmtl A B Z 12’ then
press ‘ENTER’ soft key
o
Enter ‘1024’ using the numeric keys then press ‘ENTER’ soft key
‘Quadrature’ for Select Encoder Interface then press ‘ENTER’ soft key
‘Differential’ Select Encoder Interface then press ‘ENTER’ soft key
‘No’ for Monitor marker pulse to detect loss of signal
c. Skip the ‘Limits’ step
d. Under ‘Tests’ step:
o Perform the ‘Direction Test’ for this lab direction is not important however if chosen
direction does not match during the direction test you will be prompted to correct, choose
the ‘Automatic Change’ selection for both the motor and feedback.
o Perform the ‘Auto Tune’ selecting the ‘Rotate Tune’ selection
o Perform the ‘Inertia Test’ then enter ‘75’ R/S for the Speed Reg BW
o Then select ‘Done’
e. Skip the ‘Ref Ramp Stop’ and ‘I/O’ steps
f. Select ‘Done’ to exit the Main Menu of the General Startup.
g. Followed by ‘Exit Startup’.

11. Connect to the Drive
The connect to drive section can be skipped if already connected from the previous lab.
1. Launch DriveExecutive. This can be accomplished via shortcut on desktop (if one exists) or from the Start
Menu.
From the Start menu, select Programs DriveTools DriveExecutive.
2. Press the on the tool bar to bring up the “Connect to Drive” display below. Select the ETH-1 driver.
Then select the 700S on the right hand side and click OK.
FYI: The drive may appear as a question mark if the EDS (electronic data sheet) file is not installed on the
computer, but it is not necessary to have the EDS file to use DriveExecutive.
3. After several seconds, when you are connected to the drive, the Linear List will be displayed.
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12. Configureing the Parameter Selectors for PCAM
Parameter Selectors in the drive is a method of soft wiring connections within the drive. The selector takes the
value of a source parameter and sends its value to a destination parameter. A parameter selector will require
both a Port and a Parameter.
To set up the selector, double click on the parameter that will receive the information. For example, double click
on P765 [PsnRef Select]. This will bring up the parameter dialog. Click on the Port selector then select 6 – Dual
Encoder, next select the Parameter selector and select 14 – Encoder 1 Fdbk.
1. Set-up the parameter selectors below to configure the PCAM.
Destination Parameter Source Port Source Parameter Description
P135 [Mtr Psn FdbkSel] Port 5 P5 [Fdbk0 Position] Source of motor position fdbk
P1392 [PCAM Psn Select] Port 6 P14 [Encoder 1 Fdbk] Source of PCAM x reference
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13. Configuring the parameter data values for PCAM
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1. Program the following parameters.
Parameter Setting Description
P301 [Access Level] 2 - Expert Open all the parameters for viewing and editing.
P309 [SpdTrqPsn Mode A] 8 - Psn Camming Selects the drives mode to PCAM
P372 [Bus Reg Mode A]] 2 –Dyn Brake Sets method and sequence of DB Bus regulator mode
P382 [DB Resistor Type] 1- External Selects whether the internal or external DB protection is used
P383 [DB Ext Ohms] 110.0 Used for external resistor dynamic brake protection
P384 [DB Ext Watts] 570.0 Continuous rated power reference for the external brake
resistor
P385 [DB ExtPulseWatts] 18790 Peak watt-second rating of the external resistor
P426 [Regen Power Lmt] -200 This allows up to -200% regenerative power to flow to the
dynamic brake
P844 [PRef Pos Spd Lim] 50.0 Positive speed limit of total position regulator output
P845 [PRef Neg Spd Lim] -50.0 Negitive speed limit of total position regulator output
P1390 [PCAM Control] Set bit 0 PCAM control word
P1391 [PCAM Mode] 2 - Continuous Selects PCAM operational mode
P1396 [PCAM Span X] 4096 Number of integer counts equivalent to the span of the range
of the x axis
P1398 [PCAM Span Y] 4096 Number of integer counts equivalent to the span of the range
of the y axis
P1405 [PCAM Main EndPnt] 2 Defines last cam point to be used in the profile
P1407 [PCAM Main Pt X 0] 0.0 x coordinate value for cam point 0 of main cam
P1408 [PCAM Main Pt Y 0] 0.0 y coordinate value for cam point 0 of main cam
P1409 [PCAM Main Pt X 1] 180 x coordinate value for cam point 1 of main cam
P1410 [PCAM Main Pt Y 1] 180 y coordinate value for cam point 1 of main cam
P1411 [PCAM Main Pt X 2] 360 x coordinate value for cam point 2 of main cam
P1412 [PCAM Main Pt Y 2] 360 y coordinate value for cam point 2 of main cam
2. Verify direction of internal hand wheel by viewing P14 [Encoder 1 Fdbk] of Port 6. Neither direction is wrong
but knowing the positive direction is important for running the PCAM, if desired direction can be changed by
checking bit 5 ‘Direction’ of P11 [Encoder 1 Cfg].

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Running Configuration
In the above steps you configured the PF755 to run in the PCAM mode. The configuration is set with three cam
points and to run a one to one ratio. The hand wheel on the front of the demo will be the reference to the cam
profile and the external motor will be used to show cam.
1. Line up the motor shaft to some location that you will be able to identify after it has been spun and then do
the same for the hand wheel.
2. Line up the motor shaft to some location that you will be able to identify after it has been spun and then do
the same for the hand wheel.
3. Press start key on the drive’s HIM.
4. Now turn the hand wheel in positive direction and observe the motor shaft. If everything is configured
correctly it should be following the hand wheel in a one to one.
5. Stop the drive .
6. Realign the motor shaft and hand wheel to locations that you will able to identify after it has been spun.
7. Start the drive and spin the hand wheel in the reverse direction half a turn, notice that the motor does not
follow. Now rotate the hand wheel past the point when the drive was started, and observe that the motor
tracks as soon as the hand wheel passes the location where it was when the drive was started.
8. Rotate the hand wheel several times in the positive direction and to some point past the location where it
was when the drive was started. Then rotate the hand wheel in the reverse direction past the starting point.
Again the notice that the motor follows until this point but does not go any further.
9. Stop the drive.
10. Now set bit 7 of P1390 [PCAM Control].
11. In the past few steps the cam would follow the hand wheel in the reverse direction until the starting cam
location, now when the hand wheel is reversed the motor will not follow at all.
12. Start the drive and rotate hand wheel in both the forward and reverse direction and observe the difference
between previous operations.
13. Stop the drive.

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Configuration #2
In the previous configuration you configured the PF755 to run in a one to one ratio mode. Although the PCAM
can accomplish that functionality it is better suited for applications where the motor would follow a different
profile. Again in this configuration the hand wheel on the front of the demo will be the reference to the cam
profile and the external motor will be used to show cam, however the external motor will now perform a flying
shear type application.
1. Reconfigure the PCAM profile to the below settings.
Parameter Setting Description
P1398 [PCAM Span Y] 2048 Number of integer counts equivalent to the span of the range of
the y axis
P1405 [PCAM Main EndPnt] 8 Defines last cam point to be used in the profile
P1407 [PCAM Main Pt X 0] 0.0 x coordinate value for cam point 0 of main cam
P1408 [PCAM Main Pt Y 0] 0.0 y coordinate value for cam point 0 of main cam
P1409 [PCAM Main Pt X 1] 45 x coordinate value for cam point 1 of main cam
P1410 [PCAM Main Pt Y 1] 45 y coordinate value for cam point 1 of main cam
P1411 [PCAM Main Pt X 2] 90 x coordinate value for cam point 2 of main cam
P1412 [PCAM Main Pt Y 2] 90 y coordinate value for cam point 2 of main cam
P1413 [PCAM Main Pt X 3] 135 x coordinate value for cam point 3 of main cam
P1414 [PCAM Main Pt Y 3] 135 y coordinate value for cam point 3 of main cam
P1415 [PCAM Main Pt X 4] 180 x coordinate value for cam point 4 of main cam
P1416 [PCAM Main Pt Y 4] 180 y coordinate value for cam point 4 of main cam
P1417 [PCAM Main Pt X 5] 225 x coordinate value for cam point 5 of main cam
P1418 [PCAM Main Pt Y 5] 135 y coordinate value for cam point 5 of main cam
P1419 [PCAM Main Pt X 6] 270 x coordinate value for cam point 6 of main cam
P1420 [PCAM Main Pt Y 6] 90 y coordinate value for cam point 6 of main cam
P1421 [PCAM Main Pt X 7] 315 x coordinate value for cam point 7 of main cam
P1422 [PCAM Main Pt Y 7] 45 y coordinate value for cam point 7 of main cam
P1423 [PCAM Main Pt X 8] 360 x coordinate value for cam point 8 of main cam
P1424 [PCAM Main Pt Y 8] 0.0 y coordinate value for cam point 8 of main cam

16. 2. Line up the motor shaft to some location that you will be able to identify after it has been spun and then do
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the same for the hand wheel.
3. Press start key on the drive’s HIM.
4. Now turn the hand wheel in positive direction and observe the motor shaft. If everything is configured
correctly the motor should follow the hand wheel to 180 degrees then reverse back to 0 degrees for each
revolution of the hand wheel.
5. Stop the drive and reline the motor and hand wheel to a know position.
6. Now set P1400 [PCAM ScaleYSelPt] to a value of 2.0.
7. Start the drive and spin the hand wheel one rev and observe the motor reaction ______________________
8. Again stop the motor and now set P1400 to .5, reline motor and hand wheel.
9. Start the drive and spin the hand wheel one rev and observe the motor reaction ______________________
Notice that without changing the cam’s profile you can very the depth of the profile.
10. Stop the drive and change P1400 back to a value of 1.
11. Enter value of 5 into P1397 [PCAM Scale X].
12. Start drive and turn the hand wheel to perform one complete cut function. How many revs to the hand
wheel did it take to perform one complete cycle? ________
13. Stop the drive.
14. Set P1391 [PCAM Mode] to ‘1 – Single Step]
15. Start the drive and turn hand wheel. Does the cam continue after one complete cycle? ________________
16. Toggle bit 1 [Start] in P1390 and turn hand wheel now. See how toggling this bit the single step will allow
the single step to run again.
17. Stop the drive then start the drive, and turn the hand wheel and see that on a start of the drive will allow the
single to run again.
18. Stop the drive

17. Block diagrams associated with PCAM
Below is the PCAM reference generator, this section produces the Position and Velocity that is feed into the
position and speed loops.
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Notes