Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual User Manual
Page 102
102
Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 5
MotionView Software Configuration
When the Kinetix 300 drive is in Indexing mode the drive performs the required
index based position move, for each index, according to the parameters shown
below. The Kinetix 300 drive supports up to 32 indexes.
The drive validates the index table before execution. During validation, if the
drive encounters an error such as index entries that contain invalid values, the
drive issues a fault and does not allow execution of the index table until the
anomaly has been corrected.
Table 51 - Index 00…31
ID
(1)
Parameter Name
Description
Value/Notes
(2)
272
Index Type
Absolute with and without registration, incremental with and without registration, or
blended incremental.
0 = Absolute
1 = Incremental
2 = Registration absolute
3 = Registration incremental
4 = Blended
5 = Rotary absolute
6 = Rotary incremental
7 = Rotary shortest path
8 = Rotary positive
9 = Rotary negative
10 = Current
273
Move
Trapezoidal or S-curve.
0 = Trapezoidal
1 = S-curve
274
Distance
The incremental distance to move or target position, based on the Index Type.
1…268435.4560 User Units
275
Register Distance
276
Batch Count
How many times to execute index before moving on to the next index.
1…2147483647
277
Dwell
The time to remain at position before moving on to the next index. This is not applied
between batches. If Index Type is Current then Dwell is amount of time current level is
applied.
0…65535 ms
278
Velocity
The target speed when moving towards the new position. If the acceleration rate is too low,
the axis may not actually reach the target velocity. If Index type is Current, then Velocity is %
rated current applied.
0.0000…10,000,000.0000 User Units/s
279
Accel
The rate to accelerate towards the configured velocity.
0.0000…10,000,000.0000 User Units/s
280
Decel
The rate to decelerate towards zero-velocity from configured-velocity.
0.0000…10,000,000.0000 User Units/s
281
Next Index
The next index to execute after the current index completes.
0…31
282
Action
What to do when current index is complete.
0 = Stop
1 = Wait for start
2 = Next index
(1) ID tag numbers in this example is for Index 00. See
.
(2) Numerical values (0 =, 1=, 2=, for example) for menu choices appear only in explicit messages sent when using RSLogix 5000 or RSLogix 500 software.