Reference Manual Kinetix 3 Host Commands for Serial Communication Catalog Numbers 2071-AP0, 2071-AP1, 2071-AP2, 2071-AP4, 2071-AP8, 2071-A10, 2071-A15
Important User Information Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices.
Summary of Changes This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph. New and Updated Information This table contains the changes made to this revision.
Summary of Changes Notes: 4 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Table of Contents Preface About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 Modbus Protocol Function Codes . .
Table of Contents Verify Servo Connection (LIV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Read Fault Detailed Data (DIE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enable Drive (SVRON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Disable Drive (SVROF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reset Drive (HWR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Variable 25 - Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Variable 26 - Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Variable 29 - Indexing Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Variable 30 - Indexing Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Notes: 8 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Preface About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication. Use this manual for designing, programming, and troubleshooting host commands for serial communication with the Kinetix 3 drives. Who Should Use This Manual This manual is intended for engineers, programmers, or technicians directly involved in the installation, operation, programming, and field maintenance of a Kinetix 3 drive by using host mode commands.
Preface Notes: 10 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 1 Modbus Protocol This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive. Function Codes The register number of Modbus devices may begin with 0 or 1, because this is determined by the Modbus host you have selected. If your controller requires it, a '1' must be added to the register number.
Chapter 1 Modbus Protocol Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications. Exception Code Name Meaning 0x01 Illegal Function The function code received in the query is not an allowable action for the slave. 0x02 Illegal Data Address The data address received in the query is not an allowable address for the slave. 0x03 (1) Illegal Data Value The length of query data field is not valid for the slave.
Modbus Protocol Chapter 1 All standard and indexing parameters (Pr-x.xx or Inxx.xx) require a unique register address. The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1. Address Maps Standard Parameters Group 0 - System Level Modbus Address Kinetix 3 Parameter Modbus, Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 0 Pr-0.00 10 Pr-0.09 20 Pr-0.19 30 Pr-0.
Chapter 1 Modbus Protocol Group 2 - Speed Control Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 200 Pr-2.00 206 Pr-2.04 212 Pr-2.10 201 Pr-2.01 207 Pr-2.05 213 Pr-2.11 202 Pr-2.02[Lo] 208 Pr-2.06 214 Pr-2.12 203 Pr-2.02[Hi] 209 Pr-2.07 215 Pr-2.13 204 Pr-2.03[Lo] 210 Pr-2.08 216…299 Reserved 205 Pr-2.03[Hi] 211 Pr-2.
Modbus Protocol Chapter 1 Indexing Parameters Special Index Group 0 Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 4000 Index 0 Distance Low 4005 Index 0 Accel Low 4001 Index 0 Distance High 4006 Index 0 Accel High 4002 Index 0 Velocity 4007 Index 0 Dwell 4003 Index 0 Decel Low 4008 Index 0 Option 4004 Index 0 Decel High 4009 Index 0 Next Index 4010…4199 Reserved Group 0 - Indexing System Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parame
Chapter 1 Modbus Protocol Group 1 - Index Homing Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 5200 In01.00 5206 In01.05.Lo 5212 In01.08.Hi 5201 In01.01 5207 In01.05.Hi 5213 In01.09 5202 In01.02 5208 In01.06 5214 In01.10 5203 In01.03 5209 In01.07.Lo 5215 In01.11 5204 In01.04.Lo 5210 In01.07.Hi 5216 In01.12.Lo 5205 In01.04.Hi 5211 In01.08.Lo 5217 In01.12.
Modbus Protocol Chapter 1 Group 4 – Index Position/Distance Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 5800 In04.00.Lo 5834 In04.17.Lo 5868 In04.34.Lo 5902 In04.51.Lo 5801 In04.00.Hi 5835 In04.17. Hi 5869 In04.34. Hi 5903 In04.51.Hi 5802 In04.01.Lo 5836 In04.18.Lo 5870 In04.35.Lo 5904 In04.52.Lo 5803 In04.01.Hi 5837 In04.18. Hi 5871 In04.35. Hi 5905 In04.52.
Chapter 1 Modbus Protocol Group 5 - Reserved Modbus Address Kinetix 3 Parameter 6000…6199 Reserved Group 6 - Reserved Modbus Address Kinetix 3 Parameter 6200…6399 Reserved Group 7 – Index Dwell Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 6400 In07.00 6417 In07.17 6434 In07.34 6451 In07.51 6401 In07.01 6418 In07.18 6435 In07.35 6452 In07.52 6402 In07.02 6419 In07.
Modbus Protocol Chapter 1 Group 8 – Index Velocity Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 6600 In08.00 6616 In08.16 6632 In08.32 6648 In08.48 6601 In08.01 6617 In08.17 6633 In08.33 6649 In08.49 6602 In08.02 6618 In08.18 6634 In08.34 6650 In08.50 6603 In08.03 6619 In08.19 6635 In08.35 6651 In08.51 6604 In08.04 6620 In08.20 6636 In08.36 6652 In08.52 6605 In08.
Chapter 1 Modbus Protocol Group 10 – Index Acceleration Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 7000 In10.00.Lo 7032 In10.16.Lo 7064 In10.32.Lo 7096 In10.48.Lo 7001 In10.00.Hi 7033 In10.16. Hi 7065 In10.32. Hi 7097 In10.48. Hi 7002 In10.01.Lo 7034 In10.17.Lo 7066 In10.33.Lo 7098 In10.49.Lo 7003 In10.01.Hi 7035 In10.17. Hi 7067 In10.33. Hi 7099 In10.49. Hi 7004 In10.
Modbus Protocol Chapter 1 Group 11 – Index Deceleration Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 7200 In11.00.Lo 7232 In11.16. Lo 7264 In11.32.Lo 7296 In11.48.Lo 7201 In11.00.Hi 7233 In11.16. Hi 7265 In11.32. Hi 7297 In11.48. Hi 7202 In11.01.Lo 7234 In11.17.Lo 7266 In11.33.Lo 7298 In11.49.Lo 7203 In11.01.Hi 7235 In11.17. Hi 7267 In11.33. Hi 7299 In11.49. Hi 7204 In11.
Chapter 1 Modbus Protocol Group 12 – Next Index Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter Modbus Address Kinetix 3 Parameter 7400 In12.00 7416 In12.16 7432 In12.32 7448 In12.48 7401 In12.01 7417 In12.17 7433 In12.33 7449 In12.49 7402 In07.02 7418 In12.18 7434 In12.34 7450 In12.50 7403 In12.03 7419 In12.19 7435 In12.35 7451 In12.51 7404 In12.04 7420 In12.20 7436 In12.36 7452 In12.52 7405 In12.
Modbus Protocol Chapter 1 Save Parameters When the Standard and Indexing parameters are written by using function code 0x06, their values are stored to the volatile RAM temporarily and are lost after powering off. To permanently store the parameters values in the nonvolatile flash memory, write a 1 to the address 9999, by using the function code 0x06, 0x10. Nonvolatile memory is limited to 100,000 erase/program cycles.
Chapter 1 Modbus Protocol Monitoring Parameter (Function Code 0x04) The Read or Multi-read of monitoring variables are possible through function code 04 Read Input Register. All display parameters of the drive are mapped to function code 04 range. The default address is 0x00. Display Parameter - Input Registers (Default = 0) Modbus Address Drive Name Unit 0 dis-00 Velocity Feedback rpm 1 dis-01 Velocity Command rpm 2 dis-02 Velocity Error rpm 3 dis-03 Torque Command 0.
Modbus Protocol Chapter 1 Output Function Status Parameter Modbus Address Output Function Description Unit Position [bits] 200 /S_ALM Alarm Bit [0] /P-COM Within position window Bit [1] /TG-ON Up to speed Bit [2] BK Brake control Bit [3] /V-COM Within Speed window Bit [4] /A-VLD Absolute position valid Bit [5] /RDY Drive Ready Bit [6] /T-LMT /NEAR Current Limited Bit [7] /V-LMT /WARN Velocity Limited Bit [8] /NEAR Near position Bit [9] /WARN Warning Bit [10
Chapter 1 Modbus Protocol Running Parameter (Function Code 0x06 or 0x10) Run Parameter - Holding Registers (Default = 2000) Modbus Address Attribute RUN Name Access Unit 2000 User Open run-00 Jog Operation 1-byte 2001 run-01 Off-Line Auto Tuning 1 bit 2002 run-02 Reserved - 2003 run-03 Auto Adjustment of Speed Command Offset 1 bit 2004 run-04 Auto Adjustment of Current Command Offset 1 bit 2005…2007 run-05… run-07 Reserved - 2008 run-08 Alarm Reset 1 bit 2009 run-09 Res
Modbus Protocol Chapter 1 Input Function Control - Holding Registers Modbus Address I/O Function Description Unit Position Bit 3001 /ABS-DT Position Strobe bit [0] /START Motor Moving Enable bit [1] /Z-CLP Zero Speed Clamp Enable bit [2] /GEAR 2nd Electronic Gear Bank Selection bit [3] /R-ABS Reset multi-turn data of Absolute Encoder bit [4] - Reserved - [5] /SHOME Start Homing bit [6] /STOP Stop Indexing bit [7] /PAUSE Pause Indexing bit [8] /I-SEL0 Index Select
Chapter 1 Modbus Protocol Notes: 28 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 2 Communication Protocol (RS-232/ASCII) Introduction The drive command protocol is a client-server protocol. A host computer is the server, and each drive is a client. This chapter provides details about the Special Symbols, Packet Structure, and Checksum in the serial communication protocol. Special Symbols Special symbols used in the host commands include the following.
Chapter 2 Communication Protocol (RS-232/ASCII) If the drive receives the host's command with a communication error (for example, parity or checksum errors), the drive sends an NAK. The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms). If drive does not recognize the command, it sends a US response. The checksum range consists of ID to Separator fields.
Chapter 3 General Commands (ASCII) This chapter defines the general ASCII commands available to control a Kinetix 3 drive. Read Parameter (SET) Attribute Value Command SET Description Read parameter value Format STX ID # SET PPP : BSS ETX Data Argument Description PPP Parameter #; for example, [Pr - 2.03], PPP=203=0x0CB Refer to this chapter, Appendix A, Standard Drive Parameters, and Appendix B, Indexing Drive Parameters for a available parameter descriptions.
Chapter 3 General Commands (ASCII) Write Parameter (STR) Attribute Value Command STR Description Write parameter value to RAM, and then save data from RAM to nonvolatile memory. Format STX ID # STR PPP V : BSS ETX Data Argument Description PPP Parameter #; for example, [Pr - 2.03], PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 47 for a description of available parameters. Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing.
General Commands (ASCII) Chapter 3 Indexing Command Extended (XCE) Attribute Value Command XCE Description Execute Indexing Control Panel command Format STX ID # XCE NNNNN & VVVVV: BSS ETX Data Argument Description NNNNN Index number. 0…63. Data Format 16-bit unsigned integer VVVVVV Indexing Function Command.
Chapter 3 General Commands (ASCII) Write Indexing Parameter (XHP) Attribute Value Command XHP Description Write parameter value to RAM. Format STX ID # XHP PPPP V : BSS ETX Data Argument Description PPPP Parameter #; for example, in the case of [IN00.02], PPPP=0200, the two initial arguments (PPxx) indicate the indexing (Ix) group. Refer to Indexing Drive Parameters beginning on page 113 for a description of available indexing parameters. V Bit-field type = 4-byte hexadecimal value.
General Commands (ASCII) Chapter 3 Fault Reset (RST) Attribute Value Command RST Description Clear fault Format STX ID # RST : BSS ETX Response ACK Usage Note Fault Reset had no effect unless action was taken to resolve the fault. Refer to Warnings and Fault Codes beginning on page 129 for a description of faults and warnings.
Chapter 3 General Commands (ASCII) Triggered Data Collection (MOT) 36 Attribute Value Command MOT Description Sets, watches, and reads trigger monitor Format STX ID # MOT Ch1 Ch2 Src SP Num Mode Pos Level : BSS ETX Data Argument Description Ch1, Ch2 Input signals, See Appendix A (variables 0x00…0x0F only) Src Trigger Source (0x000…0x009, 0x101…0x112) Refer to Monitor Variables on page 131 for the list of variables.
General Commands (ASCII) Attribute Value Next Command STX ID # ESC : BSS ETX Response ACK Chapter 3 Figure 1 - Triggered Data Collection (MOT) Command String Example PC Servo #MOR (setting) Time <200 ms ACK #MOT $BSY . . . #MOT $TOK #MOT00 $MOT . . .
Chapter 3 General Commands (ASCII) Variable Roll Monitoring (MOR) Attribute Value Command MOR Description Set up variable roll monitor Format Data STX ID # MOR SP P1 P2 : BSS ETX Argument Description SP Sampling period range 0x01…0x64 (01…100 ms) P1, P2 Variables to monitor. Range 0x00…0x1D Usage Note Sets up the variable roll monitoring. This command is sent to the drive prior to sending a Monitor Variable (MDM) command. See Figure 2 for command examples.
General Commands (ASCII) Chapter 3 Automatic Task (TAT) Attribute Value Command TAT Format STX ID # TAT T1 : BSS ETX Data Argument Description T1 Automatic task number. See the following Values and Task Descriptions.
Chapter 3 General Commands (ASCII) Manual Task (TMN) Attribute Value Command TMN Format STX ID # TMN 1 : BSS ETX Data Argument Description T1 Manual task number. See the following Values and Task Descriptions. Value Task Description 0x01 - Speed Command Offset - Decrement by 0.1 mV. 0x02 + Speed Command Offset - Increment by 0.1 mV. 0x03 Save Speed Command Offset change. 0x04 - Current Command Offset - Decrement by 0.1 mV. 0x05 + Current Command Offset - Increment by 0.1 mV.
General Commands (ASCII) Chapter 3 Read Fault Contents (EHY) Attribute Value Command EHY Description Read faults See Read Fault Detailed Data (DIE) on page 44 for alternative fault data. Format STX ID # EHY F1 : BSS ETX Data Argument Description F1 Fault Number. Range is 0x01…0x08 where latest fault status is stored in 0x01, and oldest fault is stored in 0x08. Response Format STX ID $ EHYE FCode FChars : BSS ETX Data Data Description FCode Fault Code.
Chapter 3 General Commands (ASCII) Read Drive Status (STS) 42 Attribute Value Command STS Description Read status Format STX ID # STS : BSS ETX Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars : BSS ETX Response Data Arguments Description Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF, PS, PC FS, FC, SC = Mixed modes Refer to [Pr - 0.
General Commands (ASCII) Chapter 3 Other Functions (ETC) Attribute Value Command ETC Format STX ID # ETC F1 : BSS ETX Data Argument Description F1 Manual task number. See the following Values and Task Descriptions.
Chapter 3 General Commands (ASCII) Verify Software Version (VER) Attribute Value Command VER Description Verify software version Format STX ID # VER : BSS ETX Response Format STX ID $ VER V : BSS ETX Response Data Argument Description V: Firmware version Size: 5 bytes, including a space Example: STX01$VER 1.
General Commands (ASCII) Chapter 3 Enable Drive (SVRON) Attribute Value Command SVRON Description Enables the drive Format STX ID # SVRON : BSS ETX Response ACK Disable Drive (SVROF) Attribute Value Command SVROF Description Disables the drive Format STX ID # SVROF : BSS ETX Response ACK Reset Drive (HWR) Attribute Value Command HWR Description Reset the drive by using watchdog counter.
Chapter 3 General Commands (ASCII) Notes: 46 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A Standard Drive Parameters Parameters control Kinetix 3 drive operations. They are grouped by the type of drive, Standard or Indexing, and the settings they define. Descriptions of Indexing Drive Parameters begin on page 113.
Appendix A Standard Drive Parameters Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter. Descriptions of Indexing Drive Parameters begin on page 113. Group 0 - System Level [Pr - 0.
Standard Drive Parameters Appendix A 55 [Pr - 0.02] Motor Basic Modes Data Size 4 digits Digit 0 Fault and Disable Braking Ultraware Name Stopping Functions: Fault and Disable Braking Range Value Description 0x0 Brake and hold 0x1 Brake and release 0x2 Free stop 0x3 Free stop and hold Default Digit 1 0 Overtravel stop method Ultraware Name Stopping Functions: Over Travel Stop Method Range Value Description 0x0 Stop by change of mode to Normal Current.
Appendix A Standard Drive Parameters [Pr - 0.
Standard Drive Parameters Appendix A (1)Internal value used for Modbus reading/writing functions(1)Internal value used for Modbus reading/writing functions [Pr - 0.04] Inertia Ratio Description Load Inertia / Motor Inertia Ultraware Name Inertia Ratio Internal Value(1) Display Value Range 0…6000 0…60.00 Default 100 1.
Appendix A Standard Drive Parameters [Pr - 0.
Standard Drive Parameters [Pr - 0.
Appendix A Standard Drive Parameters [Pr - 0.06] Range Default 54 Auxiliary Function Selection 2 (continued) Value Description 0 Fixed to the 1st gain 1 Fixed to 2nd gain 2 2nd gain selection when the gain switching input is turned on. 3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching.
Standard Drive Parameters [Pr - 0.07] Drive Address Applicable Operating Mode All Ultraware Name Drive Address Range 1…248 Default 248 When Enabled Immediately Applicable Operating Mode All Modbus Address 8 [Pr - 0.08] Password Applicable Operating Mode All Ultraware Name Drive Password Range 0…9999 Usage Note. Unprotected Code: 777 When Enabled Immediately Applicable Operating Mode All Modbus Address 9 [Pr - 0.
Appendix A Standard Drive Parameters [Pr - 0.
Standard Drive Parameters Appendix A [Pr - 0.
Appendix A Standard Drive Parameters [Pr - 0.
Standard Drive Parameters Appendix A [Pr - 0.15] Allocation of Input Signals 6 Data Size 4 digits Digit Description Default Unmapped IO Status 0 Reset multi-turn data of absolute encoder (R_ABS) 0x0 OFF 1 Gain bank select (BANK_SEL) 0x0 OFF 2 Reserved 0x0 OFF 3 Reserved 0x0 OFF When Enabled Servo-Off -> Setting (1) Applicable Operating Mode All Modbus Address 16 (1) Refer to Setting Values for Parameters [Pr - 0.10]…[Pr - 0.21] on page 61. [Pr - 0.
Appendix A Standard Drive Parameters [Pr - 0.18] Allocation of Input Signals 9 Data Size 4 digits Digit Description Default Unmapped IO Status 0 Index select 4 input (I_SEL4) 0x0 OFF 1 Index select 5 input (I_SEL5) 0x0 OFF 2 Stop homing (H_STOP) 0x0 OFF 3 Start index (START_I) 0x0 OFF When Enabled Servo-Off -> Setting (1) Applicable Operating Mode Indexing Modbus Address 19 (1) Refer to Setting Values for Parameters [Pr - 0.10]…[Pr - 0.21] on page 61. 60 [Pr - 0.
Standard Drive Parameters Appendix A [Pr - 0.21] Allocation of Input Signals 12 Data Size 4 digits Digit Description Default Unmapped IO Status 0 Reserved 0x0 OFF 1 Reserved 0x0 OFF 2 Reserved 0x0 OFF 3 Reserved 0x0 OFF When Enabled Reserved Applicable Operating Mode Indexing Modbus Address 22 Table 1 - Setting Values for Parameters [Pr - 0.10]…[Pr - 0.21] Setting Value (1) B A 9 6 7 6 5 4 3 2 1 0 Input Channel No.
Appendix A Standard Drive Parameters [Pr - 0.23] Allocation of Output Signals 2 Range for all digits 0…3, where 0 is Off and 1…6 are digital outputs Data Size 4 digits Digit Description Default 0 Current limited (T_LMT) 0x0 1 Velocity limited (V-LMT) 0x0 2 Near position (NEAR) 0x0 3 Warning (WARN) 0x0 When Enabled Servo-Off -> Setting (1) Applicable Operating Mode All Modbus Address 24 (1) Refer to Setting Values for Parameters [Pr - 0.22]…[Pr - 0.32] on page 66. [Pr - 0.
Standard Drive Parameters [Pr - 0.25] Allocation of Output Signals 4 Range for all digits 0…3, where 0 is Off and 1…6 are digital outputs Data Size 4 digits Digit Description Default 0 In Motion (IMO) 0x0 1 In Dwell (I_DW) 0x0 2 Axis Homed (HOMC) 0x0 3 Index Select 0 Out (O_ISEL0) 0x0 When Enabled Servo-Off -> Setting (1) Applicable Operating Mode Indexing Modbus Address 26 Appendix A (1) Refer to Setting Values for Parameters [Pr - 0.22]…[Pr - 0.32] on page 66.
Appendix A Standard Drive Parameters [Pr - 0.26] Allocation of Output Signals 5 Range for all digits 0…3, where 0 is Off and 1…6 are digital outputs Data Size 4 digits Digit Description Default 0 Index Select 1 Out (O_ISEL1) 0x0 1 Index Select 2 Out (O_ISEL2) 0x0 2 Index Select 3 Out (O_ISEL3) 0x0 3 Index Select 4 Out (O_ISEL4) 0x0 When Enabled Servo-Off -> Setting (1) Applicable Operating Mode Indexing Modbus Address 27 (1) Refer to Setting Values for Parameters [Pr - 0.
Standard Drive Parameters [Pr - 0.29] Allocation of Output Signals 8 Range for all digits 0…3, where 0 is Off and 1…6 are digital outputs Data Size 4 digits Digit Description Default 0 Reserved 0x0 1 Reserved 0x0 2 Reserved 0x0 3 Reserved 0x0 When Enabled Reserved Applicable Operating Mode Indexing Modbus Address 30 [Pr - 0.
Appendix A Standard Drive Parameters [Pr - 0.31] Allocation of Output Signals 10 Range for all digits 0…3, where 0 is Off and 1…6 are digital outputs Data Size 4 digits Digit Description Default 0 Reserved 0x0 1 Reserved 0x0 2 Reserved 0x0 3 Reserved 0x0 When Enabled Reserved Applicable Operating Mode Indexing Modbus Address 32 [Pr - 0.
Standard Drive Parameters Appendix A Group 1 - Gain Control [Pr - 1.00] Velocity Regulator Response Level Ultraware Name Velocity Regulator Response level Range 1…150 Default 50 Units % When Enabled Immediately Applicable Operating Mode All Modbus Address 100 [Pr - 1.01] System Gain Ultraware Name System Gain Range 10...500 Default 50 Units Hz When Enabled Immediately Applicable Operating Mode All Modbus Address 101 [Pr - 1.
Appendix A 68 Standard Drive Parameters [Pr - 1.04] Velocity Regulator D gain Ultraware Name Main Velocity Regulator Gains: Derivative Gain Range 0…1000 Default 0 Units - When Enabled Immediately Applicable Operating Mode Follower, Analog Speed, Preset Modbus Address 104 [Pr - 1.
Standard Drive Parameters Appendix A [Pr - 1.07] Current Command Lowpass Filter Bandwidth Ultraware Name Main Current Regulator Gains: Low Pass Filter Bandwidth Range 0…10,000 Default 300 Units Hz Applicable Operating Mode All When Enabled Immediately When Enabled Immediately Applicable Operating Mode All Modbus Address 107 [Pr - 1.
Appendix A Standard Drive Parameters [Pr - 1.11] 1st Resonant Frequency Suppression Filter Width Ultraware Name Main Current Regulator Gains: 1st Resonant Frequency Suppression Filter Width Description Set up the notch width of 1st resonance suppressing filter in 20 steps. Higher the setup, larger the notch width you can obtain. Range 1…20 Default 10 Units 70 When Enabled Immediately Applicable Operating Mode All Modbus Address 111 [Pr - 1.
Standard Drive Parameters Appendix A [Pr - 1.14] 2nd Resonant Frequency Suppression Filter Depth Ultraware Name Main Current Regulator Gains: 2nd Resonant Frequency Suppression Filter Depth Description Set up the 2nd notch depth of the resonance suppressing filter. The higher the setup, the shallower the notch depth and the smaller the phase delay you can obtain. Range 0…100 Default 100 Units - When Enabled Immediately Applicable Operating Mode All Modbus Address 114 [Pr - 1.
Appendix A 72 Standard Drive Parameters [Pr - 1.17] Velocity Regulator I Gain Mode Ultraware Name Main Velocity Regulator Gains: I Gain Mode Description During transient response, Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller. It reduces position completion time during position control. Range Value Description 0x0 Do not use P/PI Mode Conversion.
Standard Drive Parameters Appendix A [Pr - 1.18] Velocity Regulator I Gain Disable Threshold Ultraware Name Main Velocity Regulator Gains: I Gain Disable Threshold Range 0…3000 Default 100 Units If [Pr - 1.17] = 1, units are % of rated continuous current If [Pr - 1.17] = 2, units are rotary motors: rpm; linear motors: mm/s If [Pr - 1.17] = 3, units are Counts When Enabled Follower, Analog Velocity, Preset Applicable Operating Mode Immediately Modbus Address 118 [Pr - 1.
Appendix A Standard Drive Parameters [Pr - 1.21] Current Regulator Bandwidth Reduction Scale Ultraware Name Main Current Regulator Gains: Gain Range Value Description 0x0 High bandwidth 0x1 Medium bandwidth (0.6667 * high) 0x2 Low bandwidth (0.3334 * high) Default When Enabled All Applicable Operating Mode Immediately Modbus Address 121 [Pr - 1.
Standard Drive Parameters [Pr - 1.23] Velocity Regulator Configuration Applicable Operating Mode All Data Size 1 digits Digit 0 Velocity Command Filter on Follower Ultraware Name Velocity Command Filter on Follower Range Value Description 0x0 Disable 0x1 Enable Default Appendix A 0x0 When Enabled Immediately Applicable Operating Mode Servo-Off -> Setting Modbus Address 123 [Pr - 1.
Appendix A 76 Standard Drive Parameters [Pr - 1.26] Hysteresis of Gain Switching Ultraware Name Gain Switching: Hysteresis of Gain Switching Range 0…10,000 Default 0 Units - When Enabled Immediately Applicable Operating Mode Follower, Analog Velocity, Preset Modbus Address 126 [Pr - 1.
Standard Drive Parameters Appendix A [Pr - 1.30] 2nd Position Regulator Kp Gain Ultraware Name 2nd Regulator Gain: Kp Range 0…700 Default 20 Units Hz When Enabled Immediately Applicable Operating Mode Position Modbus Address 130 [Pr - 1.31] 2nd Current Command Lowpass Filter Bandwidth Ultraware Name 2nd Regulator Gain: Low Pass Bandwidth (IReg) Range 0…10,000 Default 300 Units Hz When Enabled Immediately Applicable Operating Mode All Modbus Address 131 [Pr - 1.
Appendix A 78 Standard Drive Parameters [Pr - 1.34] 3rd Velocity Regulator I Gain Ultraware Name 3rd Regulator Gain: Integrator Gain Range 0…60,000 Default 26 Units - When Enabled Immediately Immediately Applicable Operating Mode Follower, Analog Velocity, Preset Modbus Address 134 [Pr - 1.
Standard Drive Parameters [Pr - 1.38] 4th Velocity Regulator P Gain Ultraware Name 4th Regulator Gain: P Range 0…10,000 Default 60 Units - When Enabled Immediately Applicable Operating Mode Follower, Analog Velocity, Preset Modbus Address 138 [Pr - 1.
Appendix A 80 Standard Drive Parameters [Pr - 1.
Standard Drive Parameters Appendix A Group 2 - Speed Control [Pr - 2.00] Velocity Scale Ultraware Name Velocity Scale Internal Value(1) Display Value Range 100...20,000 10.0...2000.0 Default 5000 500.0 Units Rotary motors: 0.1 rpm/V Linear motors: 0.1 mm/s/V Rotary motors: rpm/V Linear motors: mm/s/V When Enabled Servo-Off -> Setting Applicable Operating Mode Analog Velocity Modbus Address 200 (1) Internal Value used for Modbus reading and writing functions [Pr - 2.
Appendix A 82 Standard Drive Parameters [Pr - 2.03] Deceleration Ultraware Name Acceleration Limits: Deceleration Range 1…2,147,483,647 Default 41667 Units Rotary motors: 10-2*rev/s2; Linear motors: mm/s2 When Enabled Immediately Applicable Operating Mode Analog Velocity Input, Preset Velocity Modbus Address Pr-2.03[Lo] = 204, Pr-2.03[Hi] = 205 [Pr - 2.
Standard Drive Parameters Pr - 2.07] Preset Velocity 3 Ultraware Name Preset Velocity 3 Range -6000…6000 Default 0 Units Rotary motors: rpm; Linear motors: mm/s When Enabled Immediately Applicable Operating Mode Preset Modbus Address 209 [Pr - 2.08] Preset Velocity 4 Ultraware Name Preset Velocity 4 Range -6000…6000 Default 0 Units Rotary motors: rpm; Linear motors: mm/s When Enabled Immediately Applicable Operating Mode Preset Modbus Address 210 [Pr - 2.
Appendix A 84 Standard Drive Parameters [Pr - 2.11] Preset Velocity 7 Ultraware Name Preset Velocity 7 Range -6000…6000 Default 0 Units Rotary motors: rpm; Linear motors: mm/s When Enabled Immediately Applicable Operating Mode Preset Modbus Address 213 [Pr - 2.
Standard Drive Parameters Appendix A Group 3 - Position Control [Pr - 3.
Appendix A Standard Drive Parameters [Pr - 3.00] (continued) Follower Default 0x0 Applicable Operating Mode All Digit 3 1st Gear ratio change Ultraware Name 1st Gear ratio change Range Value Description 0x0 Enable Only on Drive Disabled 0x1 Always Enable Default 0x0 When Enabled Servo-Off -> Setting Applicable Operating Mode Follower Modbus Address 300 [Pr - 3.
Standard Drive Parameters [Pr - 3.02] 1st Gear Ratio, Master Counts Ultraware Name 1st Gear Ratio Denominator Range 1…65,535 Default 1 Appendix A Units When Enabled Servo-Off -> Setting Applicable Operating Mode Follower Modbus Address 302 [Pr - 3.03] Encoder Output Ratio, Output Counts Ultraware Name Output Ratio Numerator Range 1…32,768 Default 1 Units When Enabled Servo-Off -> Setting Applicable Operating Mode All Modbus Address 303 [Pr - 3.
Appendix A Standard Drive Parameters [Pr - 3.06] 2nd Gear Ratio, Master Counts Ultraware Name 2nd Gear Ratio Denominator Range 1…65,535 Default 1 Units 88 When Enabled Servo-Off -> Setting Applicable Operating Mode Follower Modbus Address 306 [Pr - 3.07] Reserved When Enabled Reserved for future use.
Standard Drive Parameters [Pr - 3.08] Digital Filter Cut-off Frequency Data Size 3 digits Digit 0 Low drive input Value Description 0x0 …0x7 0: 3 MHz Appendix A 1: 1.75 MHz 2: 1.5 MHz 3: 1 MHz 4: 0.75 MHz 5: 0.625 MHz 6: 0.562 MHz 7: 0.525 MHz Default = 1 Digit 1 Open collector input Value Description 0x0 …0x7 0: 3 MHz 1: 1.75 MHz 2: 1.5 MHz 3: 1 MHz 4: 0.75 MHz 5: 0.625 MHz 6: 0.562 MHz 7: 0.525 MHz Default = 5 Digit 2 High frequency line drive input 0x0 …0x7 0: 3 MHz 1: 1.75 MHz 2: 1.
Appendix A Standard Drive Parameters Group 4 - Torque Controls [Pr - 4.00] Current Scale Ultraware Name Current Scale Internal Value(1) Display Value Range 0…1000 0…100.0 Default 333 33.3 Units 0.1% of rated continuous current/V % of rated continuous current/V When Enabled Servo-Off -> Setting Applicable Operating Mode Analog Current command, Dual current Command Modbus Address 400 (1) Internal Value used for Modbus reading/writing functions 90 [Pr - 4.
Standard Drive Parameters Appendix A [ Pr - 4.04] Negative External Current Limit Ultraware Name Current Limits: Negative External Range 0…500 Default 100 Units % of motor rated continuous current When Enabled Immediately Applicable Operating Mode All Modbus Address 404 [Pr - 4.
Appendix A Standard Drive Parameters Group 5 - Supplemental Drive Controls 92 [Pr - 5.00] In Position Size Ultraware Name Position Functions: In Position Size Description If position error < In Position Size for 1 ms and the In Position Size output signal is assigned, the In Position output is turned ON. Range 0…2500 Default 10 Units Counts When Enabled Immediately Applicable Operating Mode Follower Modbus Address 500 [Pr - 5.01] Reserved When Enabled Reserved for future use.
Standard Drive Parameters Appendix A [Pr - 5.03] Speed Window Ultraware Name Speed Functions: Speed Window Description If the speed error < Speed Window for 10 ms and the Within Speed Window output signal is assigned, then the Within Speed Window output is turned ON Range 0…1000 Default 10 Units Rotary motors: rpm; Linear motors: mm/s When Enabled Immediately Applicable Operating Mode Follower, Analog Velocity Input, Preset Modbus Address 503 [Pr - 5.
Appendix A 94 Standard Drive Parameters [Pr - 5.06] Brake Inactive Delay Ultraware Name Digital Outputs: Brake Inactive Delay Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released. Range 0…10,000 Default 0 Units ms When Enabled Immediately Applicable Operating Mode Servo-Off -> Setting Modbus Address 506 [Pr - 5.
Standard Drive Parameters Appendix A [Pr - 5.09] Disabled Braking Speed Ultraware Name Stopping Functions: Braking Application Speed Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged, after disabling the drive. Range 0…1000 Default 100 Units Rotary motors: rpm; Linear motors: mm/s When Enabled All Applicable Operating Mode Servo-Off -> Setting Modbus Address 509 [Pr - 5.
Appendix A 96 Standard Drive Parameters [Pr - 5.13] Analog Output CH1 Selection Ultraware Name Analog Output 1: Signal Range 0…28 (except 15,23,25,26) Default 0 When Enabled Immediately Applicable Operating Mode All Modbus Address 514 [Pr - 5.14] Analog Output CH2 Selection Ultraware Name Analog Output 2: Signal Range 0…28 (except 15,23,25,26) Default 1 When Enabled Immediately Applicable Operating Mode All Modbus Address 515 [Pr - 5.
Standard Drive Parameters Appendix A Group 6 - Supplemental Gain and Report Settings [Pr - 6.00] Analog Velocity Command Offset Ultraware Name Velocity Command Offset Range -10,000…10,000 Default 0 Units 0.1 mV When Enabled Servo-Off -> Setting (ENG Mode) Applicable Operating Mode Analog Velocity Command [Pr - 6.01] Analog Current Command Offset Ultraware Name Current Command Offset Range -10,000…10,000 Default 0 Units 0.
Appendix A 98 Standard Drive Parameters [Pr - 6.04] A lead B Swap Range Value Description 0 Disable 1 Enable Default 0 Unit - When Enabled Servo-Off -> Setting -> After power cycle (ENG Mode) Applicable Operating Mode All [Pr - 6.
Standard Drive Parameters Appendix A [Pr - 6.08] Fault Detail Data Selection 2 Ultraware Name Fault Detail Setup: Channel B Description Refer to Monitor Variables on page 131 for more information on the range options. Range 0…28 (except 15, 23, 25, and 26) Default 3 When Enabled Immediately (ENG Mode) [Pr - 6.09] Fault Detail Data Selection 3 Ultraware Name Fault Detail Setup: Channel C Description Refer to Monitor Variables on page 131 for more information on the range options.
Appendix A 100 Standard Drive Parameters [Pr - 6.
Standard Drive Parameters Appendix A Group 7 - Manufacturing Settings This parameter group includes product settings that are programmed during the manufacturing process. IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory. Do not modify these settings, as they provide a common drive setup that is useful when you do either of the following: • Develop a drive system or troubleshooting a drive. • Seek assistance through Rockwell Automation Technical Support. [Pr - 7.
Appendix A Standard Drive Parameters [Pr - 7.04] Analog Monitor Output CH1 Scaling Ultraware Name Calibration: Analog Output CH1 Scale Range -1000…1000 Default 0 Units - When Enabled Servo-Off -> Setting -> After power cycle (ENG mode) Applicable Operating Mode All [Pr - 7.
Standard Drive Parameters Appendix A Group 9 - Motor Controls [Pr - 9.00] Standard Motor Flag Ultraware Name General: Motor Flag Range Value Description 0 Custom 1 Standard Default 1 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Appendix A 104 Standard Drive Parameters [Pr - 9.04] Motor Intermittent Current Units A * 128 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.05] Motor Continuous Current Ultraware Name Ratings: Continuous Current Range 1…32,767 Units A * 128 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Standard Drive Parameters [Pr - 9.09] Current Constant Units N * m / A * 4096 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.10] Motor Inertia Ultraware Name General: Inertia Range 1…2,147,483,647 Units Kg*cm2 * 65,536 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Appendix A Standard Drive Parameters [Pr - 9.15] Motor Mass Ultraware Name General: Mass Range 1 …2,147,483,647 Units Kg * 65,536 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.16] Electrical Cycle Length Ultraware Name General: Electrical Cycle Range 100…10,000 Units mm * 10 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Standard Drive Parameters [Pr - 9.20] Motor Thermostat Range 0 = Disabled Appendix A 1 = Enabled When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.21] Motor Thermal Resistance, Winding to Encoder Ultraware Name Thermal: Rth (w-e) Range 1…2,147,483,647 Units °C/Watt * 65,536 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Appendix A 108 Standard Drive Parameters [Pr - 9.25] Commutation Type Range Value Description 0 Brush 1 Trapezoidal 2 Sinusoidal Applicable Operating Mode All [Pr - 9.26] Start-up Commutation Ultraware Name Feedback: Sinusoidal Startup Range Value Description 0 Self Sensing 1 Hall Inputs 2 Serial When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Standard Drive Parameters [Pr - 9.52] Position Scaling Data Ultraware Name Motor Encoder Units Position Scale Range 8-bytes character string When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.53] Position Scaling Label Ultraware Name Motor Encoder Units Position Label Range 16-bytes character string When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All Pr - 9.
Appendix A Standard Drive Parameters [Pr - 9.
Standard Drive Parameters Appendix A [Pr - 9.59] Scope Scaling Range 32-bytes character string Data Size 32 digits Digits Digits Description 0…7 Channel A Scale 8…15 Channel A Offset 16…23 Channel B Scale 24…31 Channel B Offset Default 0x00000000000000000000000000000000 Ultraware Name Displayed Units Range 1-byte character string 0 = Metric 1 = English 2 = User units Default 0 When Enabled Servo-Off -> Setting -> After power cycle Applicable Operating Mode All [Pr - 9.
Appendix A Standard Drive Parameters Notes: 112 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix B Indexing Drive Parameters Parameters control Kinetix 3 drive operations. They are grouped by the type of drive, Indexing or Standard, and the drive settings they define. Descriptions of Standard Drive Parameters begin on page 47.
Appendix B Indexing Drive Parameters Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter. Descriptions for Standard Drive Parameters begin on page 47. Group 0 - Indexing System [IN00.00] Auto Start Indexing Ultraware Name Auto Start Indexing Description When this field is set to ON, the drive begins executing the selected index whenever the drive enables.
Indexing Drive Parameters Appendix B [IN00.02] Positive Deceleration Distance (continued) Units Counts Access Set Changeable Status Always When Enabled Always Applicable Operating Mode Indexing Modbus Address 5003...5004 [IN00.03] Negative Deceleration Distance Ultraware Name Negative Deceleration Distance Range Value Description 0 …2,147,483,647 The stopping distance used when the drive encounters a negative overtravel limit.
Appendix B 116 Indexing Drive Parameters [IN00.05] Positive Software Limit Ultraware Name Positive Software Limit Description If the motor feedback position is greater than this value, the drive has exceeded the software overtravel limit.
Indexing Drive Parameters Appendix B Group 1 - Homing [IN01.00] Homing Type Ultraware Name Homing Type Description Select the type of homing operation the drive performs.
Appendix B 118 Indexing Drive Parameters [IN01.01] Auto Start Homing on Enable Ultraware Name Auto Start Homing on Enable Description Causes the drive to begin the homing procedure automatically when the drive is enabled. Range Value Description 0 Active: Automatically starts homing every time the drive is enabled. 1 Active After Reset Only: automatically starts homing when a drive is enabled, if the drive has not already been homed.
Indexing Drive Parameters Appendix B [IN01.03] Creep Velocity Ultraware Name Creep Velocity Description For the To Sensor, then Back to Marker Homing Type, the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge. Range Value Description 0 …6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge.
Appendix B 120 Indexing Drive Parameters [IN01.05] Offset Move Distance Ultraware Name Offset Move Distance Description The distance the motor position is from the marker edge after the homing sequence is complete. For Sensor Only Homing, the distance the motor position is from the sensor edge after the homing sequence is complete. Range Value Description -2,147,483,647 …2,147,483,647 Digital input state communicated to the drive when the Home Sensor input becomes active.
Indexing Drive Parameters Appendix B [IN01.07] Home Position Ultraware Name Home Position Description The home position when a homing procedure is completed. Range Value Description -2,147,483,647 …2,147,483,647 Digital input of the home position. Default 0 Units Counts Access Set Changeable Status Disable Drive When Enabled Disable Drive Applicable Operating Mode Indexing Modbus Address 5209 …5210 [IN01.
Appendix B 122 Indexing Drive Parameters [IN01.09] Home Current Ultraware Name Home Current Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity. Range Value Description 1 …250 Percent of motor torque feedback Default 100 Units Percentage of a motor rating torque Access Set Changeable Status Disable Drive When Enabled Disable Drive Applicable Operating Mode Indexing Modbus Address 5213 [IN01.
Indexing Drive Parameters Appendix B [IN01.11] Homing Time Limit Ultraware Name Homing Time Limit Description Drive fault when time for homing exceeds the homing time limit. Range Value Description 0 …65,535 Homing time limit in seconds Default 60 Units seconds Access Set Changeable Status Disable Drive When Enabled Disable Drive Applicable Operating Mode Indexing Modbus Address 5215 [IIN01.
Appendix B Indexing Drive Parameters Group 2 - Indexing Options [IN02.00] …[IN02.63] Index 0…63 Type and Action When Complete Description Digit 0 homes the axis, and digit 2 controls execution of the index move command. Digit 0 Homes the axis before the drive can executes any index. Ultraware Name Index 0…63 Option: Type Range Value Description 0 Absolute: moves from its starting position to the specified Position, below.
Indexing Drive Parameters Appendix B Group 3 - Index Move Profile These values are reserved for future use. Group 4 - Index Position/Distance [IN04.00[…[IN04.63] Index 0…63 Position/Distance Ultraware Name Index 0…63 Position/Distance Description Position: For Absolute mode moves the motor travels to this fixed position. Distance: For Incremental and Registration modes moves this is the relative distance the motor travels.
Appendix B Indexing Drive Parameters Group 7 - Index Dwell [IN07.00] …[IN07.63] Index 0…63 Dwell Ultraware Name Index 0…63 Dwell Description Milliseconds to remain at current position before executing Range Value Description 0 …65,535 ms Default 0 Access Set Changeable Status Always When Enabled Always Applicable Operating Mode Indexing Modbus Address 6400 …6463 Group 8 - Index Velocity [IN08.
Indexing Drive Parameters Appendix B Group 10 - Index Acceleration [IN10.00]…[IN10.63] Index 0…63 Acceleration Ultraware Name Index 0…63 Acceleration Description Maximum acceleration while in motion Range Value Description 1 …2,147,483,647 Rotary motor: 10-2 * rev/s2 Linear motors: mm/s2 Default 6250 Access Set Changeable Status Always When Enabled Always Applicable Operating Mode Indexing Modbus Address 7000 …7127 Group 11 - Index Deceleration [IN11.00]…[IN11.
Appendix B Indexing Drive Parameters Group 12 - Index Next Index 128 [IN12.00]…[IN12.63] Index 0…63 Next Index Ultraware Name Index 0…63 Next Index Description The number (0…63) of the next indexed move to execute when Action When Complete is not set to STOP.
Appendix C Warnings and Fault Codes This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives. Warnings Fault Codes Warnings are drive abnormalities that allow motor control to continue. A threedigit text message is displayed by using the last segments of the display.
Appendix C 130 Warnings and Fault Codes Fault Code Internal Fault Code Fault Display Fault Name E.036 0x24 DRVOT Drive over temperature E.037 0x42 ACOFF AC Line Loss Fault E.053 0x63 PINIT User parameter initialization fault E.054 0x13 OFSET Current feedback offset E.055 0x61 CHSUM User parameter checksum fault E.056 0x53 CPUFT Watchdog timeout fault E.057 0x10 HWARE PWM hardware E.058 0x62 RANGE User parameter range fault E.
Appendix D Monitor Variables Ultraware limits the number of variables that can be monitored to thirty-one (variables 0…30). However, in customer applications additional monitor variables may be used. For example, monitoring of variable 32, Selected index, cannot be performed by Ultraware software because this variable is outside the range of Ultraware. However, a customer program that supports 32 variables or more can monitor this variable.
Appendix D Monitor Variables Variable (continued) 132 Name Unit No. Hex 21 0x15 Analog command - current 0.01V 22 0x16 Current feedback 0.001A 23 0x17 Hall states (wvu) Digital 24 0x18 Motor feedback position Counts 25 0x19 Digital input function state Refer to Variable 25 - Digital Inputs on page 133 for more information. Digital 26 0x1A Digital output function state Refer to Variable 26 - Digital Outputs on page 134 for more information.
Monitor Variables Appendix D The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive Compiled Variables Variable 15 - Digital Inputs and Outputs Monitoring of I/O status is provided by Variable 15 - Digital Inputs and Outputs. Digital inputs [Pr - 0.17] …[Pr - 0.18], and digital outputs [Pr - 0.22] …[Pr - 0.27] are compiled for this variable. The table below lists the data bits in this variable. Digital Outputs EMG Digital Inputs Bit No.
Appendix D Monitor Variables Variable 26 - Digital Outputs Digital output status is provided by Variable 26 - Digital Outputs. Digital inputs and outputs [Pr - 0.02], and [Pr - 0.22] …[Pr - 0.24] are compiled for this variable. The table below lists the data bits in this variable.
Monitor Variables Appendix D Variable 30 - Indexing Outputs Indexing output function status is provided by Variable 30 - Indexing Outputs. Digital outputs [Pr - 0.25] …[Pr - 0.27] are compiled for this variable. The table below lists the data bits in this variable.
Appendix D Monitor Variables Notes: 136 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Index Symbols (IN00.00) auto start indexing 114 (IN00.01) abort index deceleration 114 (IN00.02) positive deceleration distance 114 (IN00.03) negative deceleration distance 115 (IN00.04) enable software limits 115 (IN00.05) positive software limit 116 (IN00.06) negative software limit 116 (IN01.00) homing type 117 (IN01.01) auto start homing on enable 118 (IN01.02) homing velocity 118 (IN01.03) creep velocity 119 (IN03.xx) index move profile 125 (IN04.00…IN04.63) index position/distance 125 (IN05.
Index (Pr-1.33) 3rd velocity regulator P gain 77 (Pr-1.34) 3rd velocity regulator I gain 78 (Pr-1.35) 3rd position regulator Kp gain 78 (Pr-1.36) 3rd current command low pass filter bandwidth 78 (Pr-1.37) 3rd velocitycommand low pass filter bandwidth 78 (Pr-1.38) 4th velocity regulator P gain 79 (Pr-1.39) 4th velocity regulator I gain 79 (Pr-1.40) 4th position regulator Kp gain 79 (Pr-1.41) 4th current command low pass filter bandwidth 79 (Pr-1.42) 4th velocitycommand low pass filter bandwidth 80 (Pr-2.
Index (Pr-9.19) motor thermal protection enable 106 (Pr-9.20) motor thermostat 106 (Pr-9.21) motor thermal resistance, winding to encoder 107 (Pr-9.22) motor thermal capacitance, winding to encoder 107 (Pr-9.23) motor thermal resisitance, winding to ambient 107 (Pr-9.24) motor thermal capacitance, winding to ambient 107 (Pr-9.25) commutation type 107 (Pr-9.27) integral limits 108 (Pr-9.27) startup commutation 108 (Pr-9.28…Pr 9.49) reserved 108 (Pr-9.50) motor model 108 (Pr-9.51) drive name 108 (Pr-9.
Index allocation of output signals 9 (Pr-0.30) 65 alternate gain (G-SEL) 58 alternative gain enable 52 analog current command offset (Pr-6.01) 97 analog current inputs 48 analog monitor output ch1 offset (Pr-7.03) 101 analog monitor output ch1 scaling (Pr-7.04) 102 analog monitor output ch2 offset (Pr-7.05) 102 analog monitor output ch2 scaling (Pr-7.06) 102 analog offset 101, 102 analog output ch1 scale (Pr-5.15) 96 analog output ch1 selection (Pr-5.13) 96 analog output ch2 scale (Pr-5.
Index D D gain regulator 68 data bit 55 dc bus measurement scaling calibration (Pr7.07 102 dc bus voltage offset (Pr-7.01) 101 deceleration (Pr-2.03) 82 delay gain 75 delay time of gain switching (Pr-1.24) 75 digital filter cut-off frequency (Pr-3.08) 89 disable brake 49 disable delay (Pr-5.07) 94 disable drive (SVROF) 45 disabled braking speed (Pr-5.09) 95 display parameter - input register address map 24 displayed units (Pr-9.60) 111 drive address (Pr-0.07) 55 drive capacity (Pr-7.
Index group 9 - reserved 19 GS 29 H hall offset (Pr-9.08) 104 home sensor (H_SENS) 59 homing (H_SENS and SHOME) 59 homing type (IN01.00) 117 homing velocity (IN01.02) 118 host command fault codes 129 indexing command extended (XCE) 33 warnings 129 hysteresis of gain switching (Pr-1.26) 76 I I gain 72 I gain disable 73 I gain regulation 78, 79 I gain regulator 67 I/O control authority (Pr-0.32) 66 In Dwell (I_DW) 63 in motion (IMO) 63 in position size (Pr-5.
Index group 2 - speed control 14 group 3 - position control 14 group 4 - torque control 14 group 5 - supplemental drive control 14 modbus exception codes 12 modbus function codes 11 MODBUS input function control 66 MODBUS run function control 66 monitor offset 101, 102 monitor scaling 102 monitor variable 131 monitor variable (MDM) 35 monitoring parameters address map 24 MOR command 38 MOT command 36 motor basic modes (Pr-0.02) 49 motor continuous current (Pr-9.
Index preset select (C-SP1, C-SP2, C-SP3) 57 preset velocity 48 preset velocity 1 (Pr-2.05) 82 preset velocity 2 (Pr-2.06) 82 preset velocity 3 (Pr-2.07) 83 preset velocity 4 (Pr-2.08) 83 preset velocity 5 (Pr-2.09) 83 preset velocity 6 (Pr-2.10) 83 preset velocity 7 (Pr-2.11) 84 proportional gain 72 R read drive status (STS) 42 read fault contents (EHY) 41 read fault detailed data (DIE) 44 read indexing parameter (XET) 33 read parameter (SET) 31 reboot drive 45 reserved (Pr-3.07) 88 reserved (Pr-5.
Index VER command 44 verify servo connection (LIV) 44 verify software version (VER) 44 vibration suppression 69, 74 W w phase current sensing offset (Pr-6.03) 97 warning (WARN) 62 warnings 129 watchdog timer 45, 130 within position window (P-COM) 61 within speed window (V-COM) 61 write indexing parameter (XHP) 34 write indexing parameter (XTR) 34 write parameter (CHP) 32 write parameter (STR) 32 X XCE command 33 XET command 33 XHP command 34 XTR command 34 Z zero clamp (Pr-5.
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