Allen-Bradley Kinetix 5100 2198-E1004-ERS - I;O Mode - Position

236 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
I/O Mode - Position
The Kinetix 5100 drive receives position commands from the controller, then
commands the motor to run to the target position. The control structure of
position mode is as follows.
The I/O assembly data for position mode is as follows.
Actual
position
DINT Position actual value; its unit is user unit.
—
Actual torque Torque actual value; its unit is a percentage of the
rated torque for the rotary motor
—
Parameter
monitor 1
value
Parameter monitor selection 0 - no parameter is
selected
0x0001…0xFFFF parameter instance ID is
selected
—
Parameter
monitor 2
value
Parameter monitor selection 0 - no parameter is
selected
0x0001…0xFFFF parameter instance ID is
selected
—
Parameter
monitor 3
value
Parameter monitor selection 0 - no parameter is
selected
0x0001…0xFFFF parameter instance ID is
selected
—
Parameter
monitor 4
value
Parameter monitor selection 0 - no parameter is
selected
0x0001…0xFFFF parameter instance ID is
selected
—
Parameter
monitor 5
value
Parameter monitor selection 0 - no parameter is
selected
0x0001…0xFFFF parameter instance ID is
selected
—
Table 90 - Kinetix 5100 Drive Input Assembly Data Description (Continued)
Name
Data
Type Description Semantics of Values
GNUM0, GNUM1
GearRatioFollowerCounts N1 - ID151 (P1.044)
GearRatioFollowerCounts N2 - ID236 (P2.060)
GearRatioFollowerCounts N3 - ID237 (P2.061)
GearRatioFollowerCounts N4 - ID238 (P2.062)
GearRatioMasterCounts - ID152 (P1.045)
O.PositionReference
Position
Command
Generator
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Position
Commands
Numerators
Denominator
Filters
ID124 (P1.008)
ID134…ID138 (P1.024…P1.028)
ID143 (P1.036)
ID170 (P1.068)
O.SpeedReference
O.Acceleration
O.Deceleration
O.Selection
O.CyclicMoveType
O.MoveMethod
O.CaptureSource
O.Overlap
O.Interrupt
NOTE: ‘O.xxx’ are the output parameters of the I/O assembly.