Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 349 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
349
Motion Control Applications
Chapter 12
• YX - range of filter (0…95%)
When the DI.ALGN signal is triggered, the E-Cam alignment function is
enabled. The system detects the current E-Cam position. When the
difference between the current E-Cam position and its previous alignment
position is less than the parameter's range as a percentage, the filter
function is enabled. Otherwise, the system uses the new position to do the
alignment.
• UZ - maximum allowable correction rate (0…100%)
When alignment correction is enabled, the limitation of the maximum
allowable correction rate (C) is defined as follows:
|C|<= [(ID372) (P5.084) / ID371 (P5.083)] x ID245 (P2.073.UZ) %
When the alignment error is too large, correcting this error once may cause
motor vibration or overloading. Using this parameter can divide the
alignment correction into several stages to smooth the process, but it may
need more time to complete the alignment correction.
• BA: PR number (PR#0…PR#99)
After each alignment, any shortage of pulse numbers from the slave axis is
stored in a specified PR. This PR can compensate for the slave position at
the appropriate timing point. If BA is set to 0, any shortage of pulse
numbers is not stored in PR.
• DC: masking range (0…95%)
When the DI.ALGN signal is triggered, the next alignment action is
allowed only after the increasing pulses of the master axis are greater than
the distance (M) masking.
M >= ((ID372) (P5.084) / ID371 (P5.083)) x ID245 (P2.073.DC) %
E-Cam Alignment Control Switch
The settings for ID248 (P2.076)ECamControlConfiguration are described
below.
YX 00 01…5F
Function Filter disabled | Error | <= (1 to YX)%: filter enabled
TIP
Using the filter allows the alignment to be more stable and reduces
any position errors caused by DI noise and results in smoother
operation.
TIP
The format of this parameter is HEX. Thus, to set PR#11, write 0B to BA.
IMPORTANT
This masking function only allows increasing pulse input, and does not
work for decreasing pulse input.