Allen-Bradley Kinetix 5100 2198-E1004-ERS, Руководство пользователя, Страница: 205 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
205
Modes of Operation
Chapter 10
If you are changing the gear ratio while in operation, you can define multiple
numerators but only one denominator. The numerator of the E-Gear ratio can be
selected via the DI.GNUM0 and DI.GNUM1 signals. If the DI.GNUM0 and
DI.GNUM1 signals are not defined, ID151 (P1.044) is the default numerator.
To avoid mechanical vibration, switch the DI.GNUM0 and DI.GNUM1 signals
during stop status.
See Description of Digital Input Functions on page 405 .
Low Pass Filter (Position Mode)
Low pass filter for commands is typically used to filter out unwanted high-
frequency response or noise so that the speed becomes smoother.
IMPORTANT
– If you change gear ratio during operation, you can cause an abrupt, uncontrolled acceleration
event.
– ID236 (P2.060), ID237 (P2.061), and ID238 (P2.062) are for PT mode only. ID151 (P1.044) is for
both PR mode and PT mode. All of the parameters can be changed in PT mode only.
– If PT/PR mode is selected, and ID151 (P1.044) is changed in PT mode, it remains active
through any subsequent execution if you switch to PR mode.
Table 74 - Relevant Parameters
Parameter Name
ID124 (P1.008) PositionCmdLowPassFilterTime
GNUM0, GNUM1
Position Command
Moving Filter
Time Constant
ID170 (P1.068)
Pulse
GearRatioFollowerCounts N1 - ID151 (P1.044)
GearRatioFollowerCounts N2 - ID236 (P2.060)
GearRatioFollowerCounts N3 - ID237 (P2.061)
GearRatioFollowerCounts N4 - ID238 (P2.062)
GearRatioMasterCounts - ID152 (P1.045)
Numerators
Denominator
Position Command
Low Pass Filter
Time Constant
ID124 (P1.008)
Feedback Pulse
Pulse
Error