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

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 241
Modes of Operation Chapter 10
I/O Mode - Index
The Kinetix 5100 drive receives index commands from controller, then executes
the index (PR command). For more about PR mode, see Chapter 11
, Motion
Control in PR Mode.
The control structure of the index mode is as follows.
The I/O assembly data for the index mode is as follows.
I/O Mode - Speed
The Kinetix 5100 drive receives speed commands from the controller, then
commands the motor to run to the target speed.
The control structure of speed mode is as follows.
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)
Target Speed
ID352…ID367
(P5.060…P5.075)
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)
Delay Time
ID332…ID347
(P5.040…P5.055)
Accel/Decel Time
ID312…ID327
(P5.020…P5.035)
Command Source
ID397…ID596
(P6.000…P7.099)
O.StartingIndex
NOTE: ‘O.xxx’ is the output parameter of the I/O assembly.
Name Data Type Description Semantics of Values
Operation mode
setting
SINT Indicates what output assembly parameters have
effect when ‘Start Motion’ has a 0-to-1 transition.
Must be 6 - index mode
Starting index The first index that the Kinetix 5100 drive should
execute.
• -128…+1: Reserved
•0: PR 0
• 1…99: PR 1…PR 99
• 100…127: Vendor
specific
Low-pass Filter
ID122 (P1.006)
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Speed Commands
S-curve Filter
ID143 (P1.036)
Speed
Command
Generator
O.SpeedReference
O.Acceleration
O.Deceleration
NOTE: ‘O.xxx’ are the output parameters of the I/O assembly.