Rockwell Automation Allen-Bradley Kinetix 5100 User Manual

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 281
Chapter 10 Modes of Operation
IO Mode - Index
When the IO Mode is used and the drive internal sub-mode is Index Mode (6),
the drive uses a PR (Position Register) that you specify and is stored in the
drive to execute. Typically, the Motion Add-On Instruction is used to perform
the PR, or index selection (raC_xxx_K5100_MAI). For more about PR Mode, see
Chapter 11
, Motion Control in PR Mode.
The control structure of the index mode is as follows.
IO Mode - Speed
When the IO Mode is used and the drive internal sub-mode is Speed Mode (2),
the drive executes a constant speed profile. Typically, the Motion
Add-On Instruction is used to perform the constant speed profile
(raC_xxx_K5100_MAJ).
The control structure of speed mode is as follows.
IO Mode - Torque
When the IO Mode is used and the drive internal sub-mode is Torque Mode (4),
the drive outputs a constant torque. Typically, the Motion Add-On Instruction
is used to perform the constant torque output (raC_xxx_K5100_MAT).
The control structure of torque mode is as follows.
GNUM0, GNUM1
GearRatioFollowerCounts N1 - ID151 (P1.044)
GearRatioFollowerCounts N2 - ID236 (P2.060)
GearRatioFollowerCounts N3 - ID237 (P2.061)
GearRatioFollowerCounts N4 - ID238 (P2.062)
GearRatioMasterCounts - ID152 (P1.045)
Target Speed
ID352…ID367
(P5.060…P5.075)
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Position
Commands
Numerators
Denominator
Filters
ID124 (P1.008)
ID134…ID138
(P1.024…P1.028)
ID143 (P1.036)
ID170 (P1.068)
Delay Time
ID332…ID347
(P5.040…P5.055)
Accel/Decel Time
ID312…ID327
(P5.020…P5.035)
Command Source
ID397…ID596
(P6.000…P7.099)
O.StartingIndex
NOTE: ‘O.xxx’ is the output parameter of the I/O assembly.
Low-pass Filter
ID122 (P1.006)
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Speed Commands
S-curve Filter
ID143 (P1.036)
Speed
Command
Generator
O.SpeedReference
O.Acceleration
O.Deceleration
NOTE: ‘O.xxx’ are the output parameters of the I/O assembly.
Low-pass Filter
ID122 (P1.006)
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Torque Commands
Torque
Command
Generator
O.TorqueReference
O.TorqueSlope
NOTE: ‘O.xxx’ are the output parameters of the I/O assembly.

Rockwell Automation Allen-Bradley Kinetix 5100 Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley Kinetix 5100
Category	Servo Drives
Language	English