Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 263
Chapter 10 Modes of Operation
Speed and Torque Limit
Functions
The Kinetix 5100 drive can apply speed and torque limits depending on the
Operation Mode of the drive.
Speed Limits
The Speed Limits are used to limit the maximum motor speed for the
application (Max. Speed Limit) and to provide a limited speed in Torque mode
• Operation Mode: Position Mode (PR/PT) and Speed Mode (S/Sz)
Max. Speed Limit ID160 (P1.055)
• Operation Mode: Torque (T/Tz)
The Speed can be limited while in Torque mode. The
VelocityTorqueLimitAction ID118 (P1.002) is used to enable the limit and
the preset registers contain the speed limited values.
You can change the speed limit:
• One time - The Speed Limit remains active indefinitely. First, choose
Enable with ID118 (P1.002.X). This speed change does not require a
digital input (SPDLM=None) and only requires enabling X.1 in
VelocityTorqueLimitAction ID118 (P1.002). The preset speed is chosen
with Digital Inputs SPD0/1.
• More than once - The Speed Limit is changed by using a Digital Input.
(DI.Speed Limit/SPDLM) - First, choose Disable with ID118 (P1.002.X).
This limiting is flexible so that the speed limit can be changed while
the torque limit is active. The preset speeds are selected using the
binary weighted value of Digital Inputs SPD0/1. The speed limit is
applied when DI.Speed Limit/SPDLM is ON.
The overall speed limit is still active. That means Max. Speed Limit ID160
(P1.055) is still observed.
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