Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 333
Chapter 11 Motion Control in PR Mode
Index Position Command At this time, the Kinetix 5100 drive does not have a native rotary mode
operation. This Index Position Command is a feature that lets you execute
absolute indexing commands that persist through the natural unwind of the
feedback device (typically, 2.147 billion counts).
An example is a conveyor that constantly indexes forward, once the natural
unwind of the encoder occurs, the absolute position will continue to position
using the index coordinate system. Since there is no unwind operation, the
feedback counts register does not reflect the index coordinate position (PUU).
Figure 139 - PR Mode Indexing Coordinates
ID234 (P2.052) IndexingCoordinatesScale sets the spacing of the indexing
coordinates, indexing command position, and indexing feedback position. If
the value is too small, it can cause errors in the indexing coordinates.
Table 113 - Relevant Parameters
Parameter Name
ID8 (PM.032) MotorMaxSpeed
ID151 (P1.044) GearRatioslaveCountsN1
ID152 (P1.045) GearRatioMasterCounts
ID234 (P2.052) IndexingCoordinatesScale
ID600 (PM.004) EncoderResolution
IMPORTANT Prior to using the Index Position function, homing must be completed.
4
5
6
7
8
3
2
1
Indexing
coordinates
Total index moving distance
Cmd No.
Total index
moving
distance
Motor’s
running
direction
Indexing
coordinates
1
2
3
4
5
6
7
8
Total index moving
distance ID234 (P2.052) -1
Motor’s feedback
position
Motor’s running
direction
Motor’s index position
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