Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 338 / 500

338 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12 Motion Control Applications
Figure 162 - Digital Outputs of Clutch Engagement, Area 2
1. ID249 (P2.078)>=ID250 (P2.079): DO.CAM_AREA2 (0x1A) is on when
the master axis position angle is bigger than ID250 (P2.079) but not bigger than
ID249 (P2.078).
2.ID249 (P2.078)<ID250 (P2.079): DO.CAM_AREA2 (0x1A) is on when the
master axis position angle is bigger than ID249 (P2.078) but not bigger than
ID250 (P2.079.
System Variables for Master Access Monitoring
The Kinetix 5100 drive also provides four system variables to monitor the master
axis:
• Cumulative Pulse of Master Axis - system variable 059(3Bh): the
cumulative number of pulses of the E-Cam master axis, equivalent to
P5.086.
• Incremental Pulse of Master Axis - system variable 060(3Ch): the
incremental number of pulses of the E-Cam master axis in 1ms.
• Lead Pulse of Master Axis - system variable 061(3Dh): when the clutch is
engaged, the lead pulse of E-Cam master axis before disengaged ID377
(P5.089) decreases to zero will trigger the clutch disengaged. When the
clutch is disengaged, the lead pulse of E-Cam master axis before engaged
ID375 (P5.087) decreases to zero will trigger the clutch engaged.
• Position of Master Axis - system variable 062(3Eh): the position of the E-
Cam master axis.
E-Cam position (PUU)
E-Cam angle (
ƒ
)
0 45 90 135 180 225 270 315 360
P2.078=135 P2.079=240
P2.078=270
P2.079=45
DO: 0x18
DO: 0x18
P2.078 ≤ P2.079
P2.078 ! P2.079