Rockwell Automation Allen-Bradley Ultra3000

86 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020
Chapter 6 Application Conversion
Scenario 3: Master/
Follower Mode to PT Mode
The Properties window for the Followers branch of Follower-Auxiliary Encoder
mode looks like this in Ultraware.
Figure 52 - Follower Branch in Ultraware
In PT mode, the Kinetix 5100 drive provides functionality similar to the
Master/Follower mode of the Ultra3000. In PT mode, the servo drive is able to
receive a command either from pulse train inputs on the I/O connector or
from the Auxiliary feedback input. Valid encoder signals consist of AB phase
(TTL incremental feedback) and can be wired to either the PT inputs of the I/O
connector (these terminals double as PTO command input signals) or the Aux
feedback input. The motor follows the input pulses based on the E-Gear ratio
used. The Numerator and Denominator are used to specify the ratio between
Master/Follower counts. The E-Gear parameters are shown in Figure 53
. The
Kinetix 5100 servo drive provides four selectable gear ratios that can be
switched by using digital inputs. For details, see the Kinetix 5100 EtherNet/IP
Indexing Servo Drives Users Manual, publication 2198-UM004
.