Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 395

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 395
Absolute Position Recovery Chapter 14
This table describes the T
S
and T
Q
delay time after triggering the DI.ABSE and
the DI. ABSC signals.
Description:
1. When the DI.ABSE signal turns on, it has to wait for T
S
(ms) before
proceeding to the next step.
2. After reaching T
S
the host controller starts to reset the coordinate system.
When the DI.ABSC signal turns on and remains on for T
Q
ms, the pulse
number is set to zero and the PUU number is set to the value of
ID398 (P6.001).
The setting of ID243 (P2.070) determines the value of ID110 (P0.051) and
ID111 (P0.052).
For parameter descriptions and data, see the Knowledgebase document 1090034
,
Kinetix 5100 Servo Drive Parameter Data and Fault Codes.
T
S(ms)
T
Q(ms)
Min (T
S
, T
Q
) Value of ID194 (P2.009) + 2
Max ID194 (P2.009) + 2 ID194 (P2.009) + 250
Table 118 - Relevant Faults
Parameter Name
ID102 (P0.002) LEDMonitorSelection
ID108 (P0.049) EncoderDataUpdateConfiguration
ID109 (P0.050) AbsSysStatus
ID110 (P0.051) MultiTurnAbsPosition
ID111 (P0.052) SingleTurnAbsPosition
ID193 (P2.008) ForceFunction
ID194 (P2.009) DIDebounceTime
ID197 (P2.012) DI3Configuration
ID198 (P2.013) DI4Configuration
ID204 (P2.019) DO2Configuration
ID242 (P2.069) AbsoluteSystemSetting
ID243 (P2.070) DataReadUnitSelection
ID244 (P2.071) PositionErrorToleranceTime
ID398 (P6.001) HomePosition
TIP When searching for a parameter in the spreadsheet, set your search options to
search the workbook, rather than the current sheet (tab).