Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 31
Chapter 2 Replacement Considerations
Kinetix 5100 servo drives support two analog input pins (COMMAND1 and
COMMAND2) as shown in Figure 6
. The analog COMMAND1 (T-REF) input
receives a torque reference signal and the COMMAND2 (V-REF) input receives
a position or speed command signal. A 16-bit A/D converter digitizes the
signal, however, the effective resolution is 15 bit due to noise. For details see
the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual,
publication 2198-UM004
.
Figure 5 - Ultra3000 Analog Input Circuit
Figure 6 - Kinetix 5100 Drive Analog Input Circuit
When using Ultra3000 drives, the ILIMIT input limits drive current when
used. If ILIMIT input is not used, current is only limited by using Ultraware
software.
Kinetix 5100 servo drives do not provide the ILIMIT input for output current
limiting. The current command can be limited by using internal parameters
ID128…ID130 (P1.012…P1.014) internal torque limits 1…3 in PT, PR, and S mode.
Digital inputs can be used to provide a binary weighted, pre-programmed
Torque Limit. See the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users
Manual, publication 2198-UM004
, for more details.
Analog Output
This section describes analog outputs for Ultra3000 (Non-Sercos) and
Kinetix 5100 servo drives. Table 27
compares the analog outputs of these
drives.
10k Ω 10k Ω
20k Ω
20k Ω
1000 µF
1000 µF
0.01
m
F
COMMAND +
COMMAND -
0.01
m
F
10k Ω 10k Ω
AGND
±10V
10 kΩ
13
18
42
COMMAND1-Torque
COMMAND2-Speed
Analog GND
Controller Kinetix 5100 Servo Drive
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