Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 232

232 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
Servo on BOOL A 0-to-1 transition servos on the drive. —
Servo off A 0-to-1 transition servos off the drive. —
Stop motion A 0-to-1 transition stops the drive. —
Fault reset A 0-to-1 transition tried to clear the drive fault. —
Start motion A 0-to-1 transition means the motion command
is issued from the external controller.
—
Homing
method
SINT Homing method.
See Table 92 on page 238
.
Speed
reference
DINT For a rotary motor, the speed reference is
0.1 rpm/sec.
• -80000…+80000
• 1…20000 (home mode)
Acceleration
reference
For a rotary motor, the acceleration reference is
0.1 rpm/sec.
—
Deceleration
reference
For a rotary motor, the deceleration reference is
0.1 rpm/sec.
—
Position
reference
The relationship between user unit and motor
encoder counts is defined by position factor
numerator/denominator.
—
Home return
speed
The return speed when home mode is the
operating mode. For a rotary motor, the return
speed is 0.1 rpm/sec.
1…5000
Non-cyclic
move type
SINT Enumerated attribute used to determine the
noncyclic move type.
• -128…-1: Reserved
•0: Absolute
•1: Relative
• 2: Incremental
• 3: High-speed capture
• 4…127: Reserved
Cyclic move
type
Enumerated attribute used to determine the
cyclic move type.
• -128…-1: Reserved
• 0: Rotary positive
• 1: Rotary negative
• 2: Rotary shortest path
• 3…127: Reserved
Travel mode Enumerated attribute used to determine the
travel constraints of the axis.
• -128…+1: Reserved
•2: Non-cyclic move
•3…9: Reserved
•10: Cyclic move
• 11…127: Reserved
Position
command
override
BOOL When executing this movement, it overrides
previous movement.
• 0: Does not override previous
movement
• 1: Can override previous
movement
Position
command
overlap
Permits overlapping of the next movement • 0: Does not overlap the next
movement
• 1: Overlaps the next movement
Captured
position
select
BOOL Captured position selection. Vendor specific.
0: DI9 is selected
1: DI10 is selected
Table 88 - Kinetix 5100 Drive Output Assembly Data Description (Continued)
Name
Data
Type Description Semantics of Values