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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 14
Absolute Position Recovery
When the coordinate setting is complete, A 06A (or A 060) is
automatically cleared. There are three ways for you to initialize the host
controller coordinates: using the digital input signals (DI), setting the
parameters below, or using the Homing Command
(raC_Dvc_K5100_MAH AOI).
2.
When the system is powered on again, you can access the host controller's
absolute position either with DI/DO signals or through Ethernet
communication.
Based on the setting of ID243 (P2.070), the host controller can select the
requested value, either the PUU or the pulse value, within one turn.
Pulse Number
With the default setting in ID117 (P1.001.Z = 0), when the motor is running in
the clockwise direction, the cycle number is expressed as a positive value. When
the motor runs in the counterclockwise direction, the cycle number is expressed
as a negative value.
Table 117 - Relevant Parameters and Faults
In the examples below, the encoder resolution of 16777216 (single turn) is used.
In addition to the cycle counter, there are 16,777,216 pulses (0 … 16777215) in
one rotation. Pay attention to the motor's running direction. You can read the
cycle number and the pulse number either with communication or DI/DO.
Homing Parameters
Name
ID269 (P5.004)
HomingMode
ID298 (P5.005)
HomingSpeed
ID299 (P5.006)
HomingCreepSpeed
ID397 (P6.000)
HomingSetting
ID398 (P6.001)
HomePosition
Fault code
Name
A 060
Absolute Position Lost
A 06A
Absolute Position is not Initialized
A 289
Feedback Position [PUU] Counter Overflow
Parameters
Name
ID117 (P1.001)
ControlMode
ID151 (P1.044)
GearRatioFollowerN1
ID152 (P1.045)
GearRatioMasterCounts
ID194 (P2.009)
DIDebounceTime
ID243 (P2.070)
DataReadUnitSelection
ID398 (P6.001)
HomePosition
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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