Allen-Bradley Kinetix 300 - Page 102

102 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 5 MotionView Software Configuration
When the Kinetix 300 drive is in Indexing mode the drive performs the required
index based position move, for each index, according to the parameters shown
below. The Kinetix 300 drive supports up to 32 indexes.
The drive validates the index table before execution. During validation, if the
drive encounters an error such as index entries that contain invalid values, the
drive issues a fault and does not allow execution of the index table until the
anomaly has been corrected.
Table 51 - Index 00…31
ID
(1)
Parameter Name Description Value/Notes
(2)
272 Index Type Absolute with and without registration, incremental with and without registration, or
blended incremental.
0 = Absolute
1 = Incremental
2 = Registration absolute
3 = Registration incremental
4 = Blended
5 = Rotary absolute
6 = Rotary incremental
7 = Rotary shortest path
8 = Rotary positive
9 = Rotary negative
10 = Current
273 Move Trapezoidal or S-curve. 0 = Trapezoidal
1 = S-curve
274 Distance The incremental distance to move or target position, based on the Index Type. 1…268435.4560 User Units
275 Register Distance
276 Batch Count How many times to execute index before moving on to the next index. 1…2147483647
277 Dwell The time to remain at position before moving on to the next index. This is not applied
between batches. If Index Type is Current then Dwell is amount of time current level is
applied.
0…65535 ms
278 Velocity The target speed when moving towards the new position. If the acceleration rate is too low,
the axis may not actually reach the target velocity. If Index type is Current, then Velocity is %
rated current applied.
0.0000…10,000,000.0000 User Units/s
279 Accel The rate to accelerate towards the configured velocity. 0.0000…10,000,000.0000 User Units/s
280 Decel The rate to decelerate towards zero-velocity from configured-velocity. 0.0000…10,000,000.0000 User Units/s
281 Next Index The next index to execute after the current index completes. 0…31
282 Action What to do when current index is complete. 0 = Stop
1 = Wait for start
2 = Next index
(1) ID tag numbers in this example is for Index 00. See Table 56 on page 111
and Table 57 on page 112.
(2) Numerical values (0 =, 1=, 2=, for example) for menu choices appear only in explicit messages sent when using RSLogix 5000 or RSLogix 500 software.