Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 360 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
1.
Set the E-Cam storage start address by using ID369 (P5.081).
Parameter ID373 (P5.085) sets the E-Cam engaged area. When using
macro #6, parameter ID370 (P5.082) (the number of E-Cam area) is 7,
that means the curve resolution is 51 degrees, and the sync zone is also 51
degrees.
2.
Set the system gear ratio in parameters ID151 (P1.044) and
ID152 (P1.045).
3.
Set the E-Cam gear ratio and the E-Cam scale.
a. Set ID371 (P5.083) slave cycle number to 1.
b. Set the master pulse numbers: ID372 (P5.084) = .
c. Set the E-Cam scale ID311 (P5.019).
4.
Set the E-Cam table parameters.
a. ID382 (P5.094) = Gear number of motor side × Cutter number
(A × C)
b. ID383 (P5.095) = Gear number of cutter (B)
c. ID384 (P5.096) = ×C×Vc×1000000.
– Vc = 1 means there is no speed compensation.
– Vc = 0.9 means the speed of the cutter axis in the sync zone is 0.9 times
of the speed of master axis.
– Vc = 1.1 means the speed of the cutter axis in the sync zone is 1.1 times
of the speed of master axis.
5.
Write parameter ID385 (P5.097) = 0x0006 to create the E-Cam curve by
macro #6.
6.
Then, read parameter ID385 (P5.097).
If it equals to 0x1006, the macro table was successfully created.
If these error codes appear, correct the setting according to the
instructions:
Error Codes Error Instructions
0xF061 Cannot make a watch when the clutch is engaged
0xF062 ID382 (P5.094) is out of range
0xF063 ID383 (P5.095) is out of range
0xF064 ID384 (P5.096) is out of range
0xF065 ID369 (P5.081) E-Cam start address exceeds the data array length
0xF066 ID370 (P5.082) must be 7
0xF067 Gear ration ID151 (P1.044)/ID152 (P1.045) too big.
For example, 167772160:1000000 changes to 16777216:100000
N
π
d2
×
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L
×
L
π
d1
×
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