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Rockwell Automation Publication 2198-UM002E-EN-P - February 2018
Appendix D
Motor Control Feature Support
Multiple Skip Speeds
The Kinetix 5700 drives feature two independent skip-speed attributes
(SkipSpeed1 and SkipSpeed2) that use the same SkipSpeedBand.
Figure 166 - Multiple Skip Speed Example
When skip-speed band boundaries of SkipSpeed1 and SkipSpeed2 overlap, the
skip-speed hysteresis is calculated using the effective skip band.
, SkipSpeed1 is set to 0 and SkipSpeed2 is set to 15 hz. The skip
band is 10 hz wide.
At point A the axis is enabled, and the motor begins to rotate at -5 Hz even
though the command is 0 Hz. As the command reaches hysteresis point the
output frequency begins to follow the command. During deceleration, when
the command decreases to 0 Hz, the output frequency continues at 5 Hz until
the axis is disabled (point B), or the command is changed outside of the skip
band.
Figure 167 - Zero-speed Skip Frequency
0
0
SkipSpeed1
Spe
ed
Time
SkipSpeed2
SkipSpeedBand
SkipSpeedBand
25
20
15
10
-5
-10
5
0
30
5000
10,000
15,000
20,000
25,000
30,000
35,000
40,000
0
A
B
SkipSpeed1 = 0 Hz
SkipSpeed2 = 15 Hz
Skip Band = 10 Hz
Output Frequency
Command Frequency