242 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
The I/O assembly data for speed mode is as follows.
I/O Mode - Torque
The Kinetix 5100 drive receives torque commands from the controller, then
commands the motor to output target torque.
The control structure of torque mode is as follows.
The I/O assembly date for torque mode is as follows.
Speed and Torque Limit
Functions
The Kinetix 5100 drive provides speed and torque limits determined by internal
parameters for speed limit and either internal parameters or analog inputs for
torque limit.
Enable or Disable the Limit Functions
When using torque limit function, users can use this parameter to set its value to
1 to limit the torque permanently without occupying one DI setting.
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 2 - speed mode
Speed reference DINT For a rotary motor, the speed reference is
0.1 rpm/sec.
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.
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 4 - torque mode
Torque reference DINT Torque reference when the operation method is
3 - torque mode. Its unit is a percentage of the rated
torque for the rotary motor.
Torque slope Its unit is milliseconds from 0…100% of the rated
torque for the rotary motor.
Low-pass Filter
ID122 (P1.006)
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Torque Commands
Torque
Command
Generator
O.TorqueReference
O.TorqueSlope
NOTE: ‘O.xxx’ are the output parameters of the I/O assembly.
Table 93 - Relevant Parameter
Parameter Name
ID118 (P1.002) VelocityTorqueLimitAction
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