Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 233
Modes of Operation Chapter 10
To rq ue
reference
DINT When method of operation is 3–Torque mode. Its
unit is percentage of the rated torque for the
rotary motor.
-4000…4000
Torque ramp
time
Its unit is milliseconds (ms) from 0…100% of the
rated torque.
1…65500
Starting index SINT The first index (position routine) that the drive
should execute.
• -128…-1: Reserved
•0: PR 0
• 1…99: PR1…PR99
• 100…127: Vendor specific
Table 89 - Kinetix 5100 Input Assembly Data (Instance 154)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
Diagnostic
Active
Connection
Faulted
Run Mode
1 Diagnostic sequence count
2
Pad bytes for LINT alignment
3
4
5
6
7
8 Uncertain Fault
9
At
Reference
Stopped
Homed
Status
Command
in Progress
Ready Active
Warning
Present
10 Reserved
11 Operating Mode
12 Active Index
13
Reserved
14
15 Motor Type
16
Actual Speed (DINT)
17
18
19
20
Fault Code (UINT)
21
22
Warning Code (UINT)
23
24
Actual Position (DINT)
25
26
27
Table 88 - Kinetix 5100 Drive Output Assembly Data Description (Continued)
Name
Data
Type Description Semantics of Values
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