Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
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Chapter 6 Application Conversion
Figure 41 - PR Mode Setting Window in KNX5100C Software
Like the Kinetix 300 drive, the Kinetix 5100 drive PR mode provides the
indexing control operation by executing preconfigured motion commands
(Homing and Indexing) through Digital Inputs.
In Kinetix 5100 drives you can use KNX5100C software to configure up to 99
different command types with one specific command for homing. Position
Register (PR) commands contain indexing, but the command has additional
capabilities. In PR mode, these different command types include homing,
Point-to-Point position command, speed command, jump command, write
command, and arithmetic operation commands. Except for arithmetic
operations, the properties and corresponding data of each PR command are
set by KNX5100C software.
In the Kinetix 300 drive, the motion commands are triggered by
DI.StartIndex, DI.DefineHome, and DI.IndexSelect0 to DI.IndexSelect5.
In the Kinetix 5100, the motion commands are triggered by the DI.CTRG and
DI.POS0 to DI.POS6.
When using the Digital I/O control panel in KNX5100C software, you are
provided with: start and stop execution of the index command, start and stop
homing, enable or disable a drive, and index execution monitoring without
digital input wiring.
