Rockwell Automation Allen-Bradley Kinetix 5100 - Page 443

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 443
Chapter 15 Programming via Drive Parameters
053 (35h)
Torq
ue command
(integrated)
DEC Integrated Torque command. Source includes analog, register, or speed loop. 0.1%
054 (36h) Torque feedback DEC Actual motor torque. 0.1%
055 (37h) Current feedback DEC Actual motor current. 0.01 A (ampere)
056 (38h) DC Bus voltage DEC Rectified capacitor voltage. 0.1 Volt
057(39h) ECAM engage status DEC 0-stop, 1-engaged, 2-pre-engaged —
059 (3Bh)
Pulse from E-CAM
master axis
(accumulative)
DEC Accumulative pulse number of the E-CAM master axis. Same as ID374 (P5.086).
Same as the
master axis pulse
060 (3Ch)
Pulse from E-CAM
master axis
(incremental)
DEC Incremental pulse number of the E-CAM master axis. The increment per ms.
Same as the
master axis pulse
061 (3Dh)
Pulse from E-CAM
master axis (lead pulse)
DEC
The lead pulse of the E-CAM master axis which determines the engagement condition.When
disengaged: lead pulse = ID375 (P5.087) or ID380 (P5.092); when the value is 0, E-CAM engages.When
engaged: lead pulse = ID377 (P5.089); when the value is 0, it disengages.
Same as the
master axis pulse
062 (3Eh)
Position of E-CAM
master axis
DEC
Position of the E-CAM which corresponds to the master axis pulse, and can be used to find the phase
of the E-CAM. when the incremental pulse number of the master axis is P, E-CAM rotates M cycles,
where ID371 (P5.083) = M, ID372(P5.084) = P.
Same as the
master axis pulse
063 (3Fh)
Position of E-CAM slave
axis
DEC
Position of the E-CAM slave axis and can be found from the E-CAM table.Unit: unit used in the E-CAM
table.
PUU
064 (40h)
Endpoint register of PR
command
DEC In PR Mode, the endpoint of the Position command (Cmd_E). PUU
065 (41h)
Output register of PR
command
DEC In PR Mode, the accumulative output of the Position command. PUU
067 (43h) PR target speed DEC Target speed specified in the PR command.
0.1 RPM or PPS
(pulse per
second)
068 (44h) S-curve (input) DEC Input data of the S-curve filter.Effective in PR Mode, E-CAM, and register Speed command. PUU
069 (45h) S-curve (output) DEC Output data of the S-curve filter.Effective in PR Mode, E-CAM, and register Speed command. PUU
072 (48h)
Speed command
(analog)
DEC Speed command from the analog channel. 0.1 rpm
085 (55h)
E-CAM alignment
deviation percentage
DEC The alignment error rate after filtering. 10 indicates 1% and the angle conversion is 360° × 1% = 3.6°. 0.1%
091 (5Bh)
Indexing coordinate
feedback
DEC Immediate feedback position of the indexing coordinates. PUU
096 (60h) Drive firmware version DEC
Includes 2 versions: DSP and CPLD.
• Low word returns the DSP version number
• High word returns the CPLD version number
—
111 (6Fh)
Error code of the servo
drive
DEC Error code from the servo drive: control loop of the servo only, not including the motion controller. —
112 (70h)
Encoder
communication error
rate
DEC
When this value continues to increase, it indicates that there is communication interference. In an
interference-free environment, this v
alue should
not increase.
—
113 (71h)
Overload (E006)
protection counter
DEC Displays the motor load during operation. When the value reaches 100%, E006 occurs. —
114 (72h) Encoder temperature DEC Monitor the encoder temperature. °C
115 (73h) Encoder type DEC Displays the encoder type. —
116 (74h)
Deviation between
position and Z phase of
auxiliary encoder
(pulse)
DEC
Distance between the current feedback position of the auxiliary encoder and the Z phase position of
the auxiliary encoder.
count
117 (75h)
Hall sensor phase
sequence and Z pulse
data from auxiliary
encoder feedback
DEC
Use the bit to determine the UVW phase sequence of the Hall sensor and Z pulse from auxiliary
encoder feedback. Bit 0: Z pulse, Bit 1: U phase, Bit 2: V phase, Bit 3: W phase.
118 (76h)
Hall sensor phase
sequence and Z pulse
data from main
encoder feedback
DEC
Use the bit to determine the UVW phase sequence of the Hall sensor and Z pulse from main encoder
feedback. Bit 0: Z pulse, Bit 1: U phase, Bit 2: V phase, Bit 3: W phase.
123 (7Bh)
Value returned when
monitoring by panel
— Monitoring value displayed when returned to the monitoring panel. —
Table 139 - System Variables Code (Continued)
Code Variable name Property Description
User Unit
(1)