Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 410 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 15
Programming via Drive Parameters
Description of Digital
Output Functions
The drive provides user-defined output functions for the six digital outputs.
When the following parameters are set to 0, digital output functions are disabled.
The available digital output functions are listed in the following table.
0x45 INHP
External Pulse Inhibit
In position mode, the external pulse input command has no function when this DI is on. (Note: This
function has to be set to DI8 to ensure the instantaneity of pulse inhibition) set DI8 ID202 (P2.017)
DI8Configuration.
See section
Pulse Command Input Inhibitor (INHP) on page 202 for more information.
Level triggered PT, I/O (Gear)
0x46 STP
Motor Stop
Trigger method of STP can be configured by P2.068.Z. Rising-edge triggered when P2.068.Z is 0. Level
triggered when P2.068.Z is 1.
Rising-edge triggered,
level triggered
PR
0x47 PFQS
Profile Quick Stop
This DI is used to set the emergency stop of deceleration time. The setting of deceleration time is the
same as ID236 (P5.003) AutoProtectionDecelTime. If this DI is triggered, A 35F occurs and the motor
will start decelerating. When the speed reaches 0, A 3CF occurs and the servo is off. Reset the fault to
switch the drive to the servo on state.
Rising-edge triggered PT, PR, T, S
Table 123 - Digital Inputs (Continued)
Setting DI Name DI Description Trigger Method Control Mode
Table 124 - Relevant Parameters
Parameter Name
ID203 (P2.018) DO1Configuration
ID204 (P2.019) DO2Configuration
ID205 (P2.020) DO3Configuration
ID206 (P2.021) DO4Configuration
ID207 (P2.022) DO5Configuration
ID225 (P2.041) DO6Configuration
Table 125 - Digital Outputs
Setting DO Name DO Description Triggering Method Control Mode
0x01 SRDY
Servo Ready
When the control and main circuit power is applied to the drive, this DO is on if no fault occurs.
Level triggered All
0x02 SON
Servo On
When the servo is activated (Servo On), this DO is on if no fault occurs.
Level triggered All
0x03 ZSPD
Zero Speed Reached
When the motor speed is slower than the setting of zero speed ID145 (P1.038) ZeroSpeedWindow
,
this
DO is on.
Level triggered All