Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 406 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 15
Programming via Drive Parameters
The available digital input functions are listed in the following table.
Table 123 - Digital Inputs
Setting DI Name DI Description Trigger Method Control Mode
0x01 SON
Servo On
When this DI is on, servo is activated (Servo On).
Level triggered All except I/O
0x02 ARST
Fault Reset
After the fault has been cleared, the drive will show that the fault has been cleared when this DI is on.
Rising-edge triggered All
0x03 GAINUP
Gain Switching
In speed and position mode, when this DI is on (ID212 (P2.027) GainSwitchingSelection set to 1), the
gain will switch to the original gain multiply the switching rate.
Level triggered
PT, PR, S, I/O
(Position, Index,
Gear, Speed)
0x04 CCLR
Pulse Clear
Clear pulse counter and setting of parameter ID233 (P2.050) PulseClearMode. Set the DI.CCLR signal to
0 to clear position pulse deviation (applicable to PT mode). When this DI is on, the accumulative pulse
deviation of the drive will be cleared to 0.
Rising-edge triggered,
level triggered
PT, PR, I/O
(Position, Index,
Gear)
0x05 ZCLAMP
Zero Speed Clamp
When the speed is slower than the setting of zero speed ID145 (P1.038) ZeroSpeedWindow, motor
stops operating when this DI is on.
See ZCLAMP Function on page 221 for additional information.
Level triggered S, I/O (Speed)
0x06 CMDINV
Command Input Reverse Control
In speed mode, the input command will be set to reverse direction when this DI is on.
Level triggered
S, Sz, T, I/O
(Speed, Gear
Mode )
0x08 CTRG
Command Triggered
In PR mode, after selecting the PR command (POS0…POS6), the motor operates according to the
command issued by the register when this DI is on.
Rising-edge triggered PR
0x09 TRQLM
Torque Limit
In speed and position mode, the motor torque will be limited when this DI is on, and the source of the
torque limit command will be the internal register or analog voltage.
Level triggered
PT, PR, S, I/O
(Position, Index,
Gear, Speed)