Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 322 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
High-speed Position
Compare Function (CMP)
The high-speed position compare feature compares the actual position of the
motion axis with the value saved in data array. When the compare condition is
fulfilled, a high-speed digital signal (DO4)
(1)
is output immediately for motion
control. As this function is carried out by the hardware, KNX5100C software
compares the data accurately on high speed motion axes. When the CMP
function is enabled, the servo drive employs DO4 to force an output signal,
which is not user-defined.
The following parameters define the function.
For parameter descriptions and data, see the Knowledgebase article 1090034
Kinetix 5100 Servo Drive Parameter Data and Fault Codes.
To configure the Compare function, you need to:
• Define and enable the operation of the compare function, including
definition of the axis source and trigger logic
• Define the start position for data compare in the data array
• Set the amount of data to be compared
• Enable the cyclic mode
Figure 147 describes the compare function.
Use parameter ID351 (P5.059) CompareControl to enable or disable the
Capture function and to define the axis source and trigger logic. See Table 105 .
(1) With execution time 5 µs only.
Table 104 - High-speed Capture Related Parameters
Parameter Name
ID348 (P5.056) CompareStartAddress
ID349 (P5.057) CompareAxisPosition
ID350 (P5.058) CompareRemainedCount
ID351 (P5.059) CompareControl
ID330 (P5.038) DI9CaptureRemainedCount
ID331 (P5.039) DI9CaptureControl
ID131 (P1.019) DI9ExtraConfiguration
ID133 (P1.023) NonVolatileCompareDataOffset
ID134 (P1.024) VolatileCompareDataOffset
ID153 (P1.046) EncoderOutputResolution
ID176 (P1.097) EncoderOutputDenominator