Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 223 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
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Modes of Operation
Chapter 10
• 1: Command source is analog voltage.
ZCLAMP function uses the analog speed command without acceleration/
deceleration to determine if this function is enabled. When ZCLAMP
conditions are met, the motor speed decelerates to 0 rpm by
S-curve deceleration. If not, the motor follows the analog speed command
through S-curve.
• 1: Command source is register.
ZCLAMP function uses the register speed command with acceleration/
deceleration to determine if this function should be enabled. When
ZCLAMP conditions are met, the motor speed is set to 0 rpm.
For more information on the ZCLAMP function, see the Description of Digital
Input Functions on page 405 .
Torque Mode
Torque control mode (T or Tz) is suitable for torque control applications, such as
printing machine, winding machine, etc. There are three kinds of command
source: analog input, register, and I/O mode. Analog command input uses
external voltage to control the torque of the motor while register uses the internal
parameters ID128…130 (P1.012…P1.014) as the torque command.