Speed And Torque Limit Functions; I/O Mode - Torque; Enable Or Disable The Limit Functions - Allen-Bradley Kinetix 5100 2198-E1004-ERS User Manual

Modes of Operation
Chapter 10
Speed and Torque Limit
Functions
242
The I/O assembly data for speed mode is as follows.
Name Data Type Description
Operation mode SINT
setting
Speed reference DINT
Acceleration
reference
Deceleration
reference

I/O Mode - Torque

The Kinetix 5100 drive receives torque commands from the controller, then
commands the motor to output target torque.
The control structure of torque mode is as follows.
O.TorqueReference
Torque
Command
Generator
O.TorqueSlope
NOTE: 'O.xxx' are the output parameters of the I/O assembly.
The I/O assembly date for torque mode is as follows.
Name Data Type Description
Operation mode SINT
setting
Torque reference DINT
Torque slope
The Kinetix 5100 drive provides speed and torque limits determined by internal
parameters for speed limit and either internal parameters or analog inputs for
torque limit.

Enable or Disable the Limit Functions

Table 93 - Relevant Parameter
Parameter Name
ID118 (P1.002) VelocityTorqueLimitAction
When using torque limit function, users can use this parameter to set its value to
1 to limit the torque permanently without occupying one DI setting.
Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Indicates what output assembly parameters have
effect when 'Start Motion' has a 0-to-1 transition.
For a rotary motor, the speed reference is
0.1 rpm/sec.
For a rotary motor, the acceleration reference is
0.1 rpm/sec.
For a rotary motor, the deceleration reference is
0.1 rpm/sec.
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Low-pass Filter
ID122 (P1.006)
Other
Torque Commands
Indicates what output assembly parameters have
effect when 'Start Motion' has a 0-to-1 transition.
Torque reference when the operation method is
3 - torque mode. Its unit is a percentage of the rated
torque for the rotary motor.
Its unit is milliseconds from 0...100% of the rated
torque for the rotary motor.
Semantics of Values
Must be 2 - speed mode
Semantics of Values
Must be 4 - torque mode