Allen-Bradley Kinetix 5100 2198-E1004-ERS - PR Mode Indexing Coordinates

276 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Figure 105 - PR Mode Indexing Coordinates
ID234 (P2.052) IndexingCoordinatesScale sets the scale of the indexing
coordinates, indexing command position, and indexing feedback position. If the
value is too small, it may cause errors in the indexing coordinates. The ranges of
values for ID234 (P2.052) are:
P2.052 > (PM.004 * P1.045 / P1.044) * (PM.032 / 60) * (1 / 1000) * 1.05
P2.052 > (PM.004 * P1.045 / P1.044) * PM.032 / 57142
Where 1/1000 means 1µs (position update time), 1.05 is a safe factor for
calculation.
If using the index function, execute homing to create the coordinate system.
Then the origin of the motor's feedback position and that of the motor's index
position can be identical. If homing is not executed, E 237 (Indexing mode
cannot start) occurs.
Among the options, INS is the interrupt command, which interrupts the
previous motion command. OVLP is the overlap command, which allows the
next PR command to overlap the current one during deceleration. If this OVLP is
used, setting the delay time to 0 is suggested. DIR sets the rotation direction with
Table 98 - Relevant Parameters
Parameter Name
ID8 (PM.032) MotorMaxSpeed
ID151 (P1.044) GearRatioFollowerCountsN1
ID152 (P1.045) GearRatioMasterCounts
ID234 (P2.052) IndexingCoordinatesScale
ID600 (PM.004) EncoderResolution
4
5
6
7
8
3
2
1
Indexing
coordinates
Total index moving distance
Cmd No.
Total index
moving
distance
Motor’s
running
direction
Indexing
coordinates
1
2
3
4
5
6
7
8