Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
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Modes of Operation
Chapter 10
For more information, see
and
.
Speed/Torque Dual Mode
Speed/torque dual mode includes only the S-T mode. The speed command
comes from the external analog voltage and internal parameters ID125…ID127
(P1.009…P1.011) internal speed commands 1…3, which are selected via the
DI.SPD0 and DI.SPD1 signals. Similarly, the source of torque command could
be external analog voltage or internal parameters ID128…ID130
(P1.012…P1.014) internal torque limits 1…3 and is selected via the DI.TCM0
and DI.TCM1 signals. The switch of speed/torque mode is controlled by the
DI.S-T (0x19) signal. The timing diagram is as follows.
In torque mode (the DI.S-T signal is on), the torque command is selected via the
DI.TCM0 and DI.TCM1 signals. When switching to speed mode (the DI.S-T
signal is off ), the torque command is selected via the DI.SPD0 and DI.SPD1
signals. The motor operates according to the speed command. When the DI.S-T
signal is on, it resumes to the torque mode.
For more information, see
.
Torque/Position Dual Mode
In torque/position dual mode, there are PT-T and PR-T. The command source of
PT-T comes from external pulse while PR-T comes from internal parameters
ID397…ID524 (P6.000…P7.027), which define the Homing settings and PR
commands. Torque command could be issued by external analog voltage or
internal parameters ID128…ID130 (P1.012…P1.014) internal torque limits
1…3. The switch of torque/position mode is controlled by the DI.T-P (0x20)
signal. PT and PR in position mode are selected by the DI.PT-PR (0x2B) signal.
Thus, both position and torque commands in PR-T mode are selected by a DI
signal. The timing diagram is as follows.
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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