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Allen-Bradley Kinetix 5100 2198-E1007-ERS User Manual

Allen-Bradley Kinetix 5100 2198-E1007-ERS
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230 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
In torque mode (DI.T-P signal is on), the torque command is selected via the
DI.TCM0 and DI.TCM1 signals. The DI.CTRG signal is not working at the
moment. When switching to position mode (the DI.T-P signal is off ), since
position command has not been issued (needs to wait for the rising edge of the
DI.CTRG signal), the motor stops. The position command is determined by the
DI.POS0…DI.POS6 signals and triggered by rising edge of the DI.CTRG signal.
When the DI.T-P signal is on, it resumes to torque mode.
For more information, see Position Control
on page 195 and To r que Mo d e on
page 223.
I/O Mode
The Kinetix 5100 drive is working in I/O mode when the Control Mode
parameter ID117 (P1.001) is set to 0x0C. In this mode, commands come from
the programmable controller through the I/O assembly.
Two assembly instances are supported by the K1500 drive. No configuration
assembly is supported by the Kinetix 5100 drive.
No configuration assembly is supported by the Kinetix 5100 drive.
Instance Assembly Type Description
104 Output Extended position, speed, torque, and miscellaneous output
154 Input Extended position, speed, torque, and miscellaneous input
Table 87 - Kinetix 5100 Output Assembly Data (Instance 104)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Operating Mode
1
Start
Motion
Fault
Reset
Stop
Motion
Servo Off Servo On
2
3 Homing Method
4
Speed Reference (DINT)
5
6
7
8
Accel Reference (DINT)
9
10
11
12
Decel Reference (DINT)
13
14
15

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Allen-Bradley Kinetix 5100 2198-E1007-ERS Specifications

General IconGeneral
BrandAllen-Bradley
ModelKinetix 5100 2198-E1007-ERS
CategoryServo Drives
LanguageEnglish

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