Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 427
Chapter 14 Absolute Position Recovery
1. Initialize the absolute coordinates (Home the axis).
When the coordinate setting is complete, A 06A (or A 060) is
automatically cleared. There are three ways for you to initialize the
Kinetix 5100 drive: by using the Enable Homing Input (DI), setting the
parameters below, or in IO Mode by using the AOI Homing Command
(raC_xxx_K5100_MAH).
2. When the system is power cycled, the absolute position can be accessed
using KNX5100C software or via Ethernet/IP communication.
Based on the setting of ID243 (P2.070), the Kinetix 5100 drive can select
either the PUU or the pulse value, within one turn.
Pulse Number
When the motor is running in the clockwise direction, MultiTurnAbsPosition
ID110 (P0.051) is expressed as a positive value. When the motor runs in the
counterclockwise direction, MultiTurnAbsPosition ID110 (P0.051) is expressed
as a negative value.
Homing Parameters Name
ID269 (P5.004) HomingMode
ID298 (P5.005) HomingSpeed
ID299 (P5.006) HomingCreepSpeed
ID397 (P6.000) HomingSetting
ID398 (P6.001) HomePosition
Table 132 - Relevant Parameters and Faults
Fault code Name
A 060 Absolute Position Lost
A 06A Absolute Position is not Initialized
A 289 Feedback Position [PUU] Counter Overflow
Parameters Name
ID110 (P0.051) MultiTurnAbsPosition
ID117 (P1.001) ControlMode
ID151 (P1.044) GearRatioSlaveN1
ID152 (P1.045) GearRatioMasterCounts
ID194 (P2.009) DIDebounceTime
ID243 (P2.070) DataReadUnitSelection
ID398 (P6.001) HomePosition
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