Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 85
Chapter 6 Application Conversion
KNX5100C software provides up to 99 configurable programs, called program
registers (PR), and 1 specific command for homing. In PR mode, command
settings include:
•Homing
• Constant speed control
• Point-to-point Indexing command
• Jump to specified path
• Write Parameters or Data Array
• Statement (the ability to do arithmetic operations) based on drive
conditions
Except for arithmetic operations, the property and corresponding data of each
PR command are both set by using KNX5100C software.
Figure 51 - PR Mode Setting Window in KNX5100C Software
Like Ultraware software, KNX5100C software gives you the ability to:
• start and stop execution of the PR command
• start and stop homing
• enable or disable a drive
• monitor the execution of a PR command
With the Kinetix 5100 drive, a PR command controls drive operation by
executing preconfigured motion commands [ID397 (P6.000)…ID596 (P7.099)].
The beginning of the PR command is triggered by the DI.CTRG (0x08) signal.
You can program the 99 registers first before switching the drive to servo-on
state and use the DI.POS0 … DI.POS6 signals as a binary weighted PR
command selection. When using I/O mode, the Add-On Instructions are used
to initiate PR commands.
See the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual,
publication 2198-UM004
for more details on homing and the use of the PR
command.
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