Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 324 / 500

324 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12 Motion Control Applications
When ID176 (P1.097) has been set (value is not 0), OA/OB pulse output needs
to be calculated via the numerator and denominator of ID153 (P1.046) and
ID176 (P1.097), then convert into 4 times the frequency.
Example 1:
When ID176 (P1.097) = 5; ID153 (P1.046) = 2500
Example 2:
When ID176 (P1.097) = 7; ID153 (P1.046) = 2500
Figure 147 - High Speed Position Compare Flowchart
OA/OB output
2500
5
-----------
500 pulse = =
OA/OB output
2500
7
-----------
357.142857 pulse = =
CMP axis
position
P5.057
CMP switch
P5.059.X Bit0
Start address
P5.056
CAP
am ount
P5.058
AUX ENC P5.059.Y = 1
Pulse Cmd P5.059.Y = 2
Main ENC P5.059.Y = 3
CMP axis source
CMP completed?
P5.058==0
No
Enable CAP after
completed
P5.059.X Bit 2 = 1
Cyclic CMP
P5.059.X Bit 1 = 1
P5.058 = Previous setting
value
Call PR#45
P5.059.U Bit 0 = 1
Data array
CMP axis
position ≥ 7890
CMP axis position resets to
0
P5.059.X Bit 3 = 1
CMP trigger logic
1234
2345
5678
6789
7890
Norm ally open
P5.059.Z=0
Norm ally closed
P5.059.Z=1
DO4
DO4
Pulse output duration
P5.059.CBA
Yes
CMP amount
P5.058 = P5.058 - 1