Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 265 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
265
Motion Control in PR Mode
Chapter 11
Figure 94 - Torque Limit as Reference Point
In Figure 94 , which uses looking for the Z pulse, the motor runs at the high speed
(first speed setting). Then the servo outputs a greater current to resist the external
force once the motor touches the collision protector. When the motor torque
reaches the set limit ID177 (P1.087) HomingCollisionTorqueLimit and the
output duration is longer than the time setting ID178 (P1.088)
HomingCollisionTorqueLimitTime, the motor runs in the reverse direction to
look for the Z pulse at low speed (second speed setting). Once the motor finds
the Z pulse, it decelerates to a stop, completing the homing.
If you set it not to look for the Z pulse, the servo motor runs at high speed (first
speed setting) until it touches the collision protector. Then the servo outputs a
greater current to resist the external force. When the motor torque reaches the set
limit ID177 (P1.087) and the output duration is longer than the time setting
ID178 (P1.088), the motor stop stops, completing the homing.
The Torque limit (setting range 1…300%) is only for Torque limit homing mode.
As shown in Figure 95 , when the homing command is triggered, the motor runs
in one direction until it reaches the collision protector. After reaching the
collision protector, the servo drive outputs a larger motor current to counter the
external force from the collision protector. The servo drive uses the motor
current and the Torque limit, ID178 (P1.088) time to determine homing, and
then it runs in the opposite direction to find the Z pulse.The valid range for
ID178 (P1.088) is 2…2000ms.
Motor
Start point
Reverse to Z
End
Protector
Do not look
for Z
Start point
End
Torque curve
P1.088
Time
P1.087
Z Pulse
Torque curve
(Look for
collision
point)
P1.087
P1.088
Time
Time
Torque curve
(Look for Z
pulse)