Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 231
Modes of Operation Chapter 10
16
Position Reference (DINT)
17
18
19
20
Home Return Speed (DINT)
21
22
23
24 Non-cyclic Move Type
25 Cyclic Move Type
26 Travel Mode
27
Captured
Position
Select
Position
Command
Overlap
Position
Command
Override
28
Torque Reference (DINT)
29
30
31
32
Torque Ramp Time (DINT)
33
34
35
36 Starting Index
37
38
39
Table 88 - Kinetix 5100 Drive Output Assembly Data Description
Name
Data
Type Description Semantics of Values
Operating
mode
(output)
SINT Indicate which output assembly parameters will
have effect when ‘Start Motion’ has a zero-to-one
transition.
• -128…-1: Reserved
• 0: Mode not specified
•1: Position mode
•2: Speed mode
• 3: Home mode
•4: Torque mode
•5: Gear mode
• 6: Index mode
• 7…127: Reserved
Table 87 - Kinetix 5100 Output Assembly Data (Instance 104) (Continued)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
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