Rockwell Automation 2198-C4015-ERS

208 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Appendix C Motor Control Feature Support
Multiple Skip Speeds
The Kinetix 5300 drives feature two independent skip-speed attributes
(SkipSpeed1 and SkipSpeed2) that use the same SkipSpeedBand.
Figure 104 - Multiple Skip Speed Example
When skip-speed band boundaries of SkipSpeed1 and SkipSpeed2 overlap, the
skip-speed hysteresis is calculated using the effective skip band.
In Figure 105
, SkipSpeed1 is set to 0 and SkipSpeed2 is set to 15 hz. The skip
band is 10 Hz wide.
At point A the axis is enabled, and the motor begins to rotate at -5 Hz even
though the command is 0 Hz. As the command reaches hysteresis point the
output frequency begins to follow the command. During deceleration, when
the command decreases to 0 Hz, the output frequency continues at 5 Hz until
the axis is disabled (point B), or the command is changed outside of the skip
band.
Figure 105 - Zero-speed Skip Frequency
0
0
SkipSpeed1
Speed
Time
SkipSpeed2
SkipSpeedBand
SkipSpeedBand
25
20
15
10
-5
-10
5
0
30
5000 10,000 15,000 20,000 25,000 30,000 35,000 40,000
0
A
B
SkipSpeed1 = 0 Hz
SkipSpeed2 = 15 Hz
Skip Band = 10 Hz
Output Frequency
Command Frequency