Allen-Bradley Kinetix 300 - Incremental Position Point-To-Point Profile; Velocity Motion Profile

196 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Appendix B Input and Output Assembly
Incremental Position Point-to-Point Profile
To execute an incremental position move, set these tag values as shown.
Table 76 - Output Assembly Tags
Velocity Motion Profile
To execute a velocity move, set these tag values as shown.
Table 77 - Output Assembly Tags
RSLogix 5000 Tags Value
ReferenceSource Set value to 2.
CommandPosition Configure the motion profile by setting tags to the desired values.
VelocityLimit
AccelerationLimit
DecelerationLimit
DriveEn Enable the drive by turning tag on.
StartMotion Start profile by turning tag on.
ID Tag RSLogix 5000 Tags Value
N/A ReferenceSource Set value to 1.
N/A CommandCurrentOrVelocity Set the velocity value.
75
(1)
Enable Accel/Decel function/limits for
Velocity mode
• Use internal defaults for Accel/Decel (ID 75 set to 0 = Disable).
• Set Accel/Decel values by writing to ID 76 and 77 by using explicit
messaging (See Appendix D on page 211
). Tag 75 must be set to 1 =
Enabled, for the values to be used.
76
(1)
Accel value for Velocity mode
77
(1)
Decel value for Velocity mode
N/A DriveEn Enable the drive by turning tag on.
(1) You can also set these parameters by using MotionView software, General category>Velocity Mode Acceleration.