Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 235
Modes of Operation Chapter 10
Active BOOL Indicates whether the drive has been servo on • 0: Drive is not enabled
• 1: Drive is enabled
Ready Indicates whether the drive is ready for servo on • 0: Drive is not ready
• 1: Drive is ready
Command in
progress
Indicates whether the drive received the
command from the controller
1: Drive received the command from
the controller
Homed status Indicates whether the drive completed the home
operation
1: Drive completed the home
operation
Stopped Indicates whether the motor is stopped 1: Drive is stopped
At reference Drive actual at reference (position, speed, torque)
based on mode
1: Drive actual at reference (position,
speed, torque) based on mode
Operating
mode (input)
SINT Indicates at which state the drive stays Its value may be:
• -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
Active index Indicates the currently executing index Currently executing index:
• -128…+1: Reserved
•0: PR 0
• 1…99: PPR 1…PR 99
• 100…127: Reserved
Motor type Indicates which type of motor is connected to the
drive
• 0: No motor connected
• 1: Rotary motor connected
• 2: Linear motor connected
Actual speed DINT Speed actual value; its unit is rpm for the rotary
motor
—
Fault code UINT Fault code For fault definitions, see the
Knowledgebase article 1090034
,
Kinetix 5100 Servo Drive Parameter
Data and Fault Codes.
Warning code Warning code
Table 90 - Kinetix 5100 Drive Input Assembly Data Description (Continued)
Name
Data
Type Description Semantics of Values
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