CompactLogix + Kinetix 5100

Explicit Message Demo

TABLE OF CONTENTS
DEMO PURPOSE AND OPERATION ...............................................................................................................................................3

CONTROLLER DEMOS ...............................................................................................................................................................6

COMPACTLOGIX L36 + KINETIX 5100 DEMO ................................................................................................................................................................. 6

STUDIO 5000 LOGIX DESIGNER SOFTWARE...................................................................................................................................7

KINETIX 5100 ......................................................................................................................................................................10

COMPACTLOGIX PROGRAM OPERATION .....................................................................................................................................15

ADD-ON INSTRUCTIONS ........................................................................................................................................................................................... 17

EXPLICIT MESSAGE READ/WRITE..............................................................................................................................................19

EXAMPLE SEQUENCE TO PERFORM THE EXPLICIT MSG (READ/WRITE) FOR SLOW/FAST INDEXING ......................................................................................... 21

APPENDIX A: DECODING THE INDEXING CONTROL SETTING ............................................................................................................26

APPENDIX B: TROUBLESHOOTING TIPS FOR THE AOI .....................................................................................................................29

APPENDIX C: KINETIX 5100 STANDALONE DEMO.........................................................................................................................31

MOTION – K5100 STANDALONE ............................................................................................................................................................................... 32

MOTION – K5100 E-CAM ...................................................................................................................................................................................... 33

VERSION HISTORY .................................................................................................................................................................34

Demo Purpose and Operation
This demo will show basic functionality of the Kinetix 5100 Servo Drive (with TLP Servo Motor) with a CompactLogix controller over Ethernet/IP. There is no
physical I/O used in this demo. All of the Kinetix 5100 Servo Drive control is performed over Ethernet/IP using explicit messaging and an AOI (Add On
Instruction) to exchange data between the drive and the controller.

The Ethernet I/P connections and hardware used for this demo are highlighted using this Popular Architecture Drawing:

Yellow: Ethernet/IP connections

Purple: Hardware used for the demo

This demo shows the programming and operation of the components highlighted in Purple. Although the PTO (Pulse Train Outputs) can be used between the
CompactLogix and Kinetix 5100, the PTO function is not shown here. The drive is configured for PR mode and shows the Class 3 messaging capabilities (CIP
Generic Messaging) between the controller and drive. This demo is NOT using IO mode (Class 1 messaging with an AOP).

It is generally simpler to use the IO mode with the Logix created Add On Profile (AOP). However, in some cases, the pre-built AOI’s may not achieve what is
required in your application. Therefore, this AOI and demo was created. If additional functionality is required beyond what the AOI’s can provide, using the PR
mode and explicit messaging can be a way to achieve what the application requires while maintaining an Ethernet/IP connection to a controller for data
exchange including issuing commands to the drive.

It is possible that you are not using the DEMO-CMXL36 + Kinetix 5100 demo box. If that is your case, you can connect the CompactLogix controller and Kinetix
5100 Servo Drive (with TLP motor) as loose hardware like the Popular Architecture Drawing is showing.

Demo Topics Supported

 The Kinetix 5100 is using the PR Mode Control Mode of operation

 The Logix program includes the raC_AOI_Dvc_K5100 AOI, available for download on the Sample Code website which controls many simple operations
over Ethernet/IP. These include:
o Home Operation
o Jog Operation
o Program Control (PR) Indexing sequence
o Program Control (PR) E-CAM profile
o Selection between Indexing and E-CAM operations
 The Logix imported program (L5X) contains the AOI that can be executed via direct control of the CMD bits (called the ‘Control Bar’)
 The Logix imported program (L5X) file that is available will simplify drive association and makes it easier to create additional drives via import.
 The Kinetix 5100 Servo Drive contains programs (PR#) that will show a simple demo sequence (using KNX5100C)
 Using the Fast/Slow indexing example. Explicit Messaging is used to modify the Kinetix 5100 index Command Setting, which includes all the index
dynamics and Data which is the index distance. An example will show how to modify these.
 The Kinetix 5100 Servo Drive contains programs (PR#) that will show the E-CAM operation and Indexing functions.

TIP: If this is your first exposure to the Kinetix 5100, the drive’s features can be shown using Appendix C: Kinetix 5100 Standalone Demo.

The purpose of this demo is simple. It will show the drive communication between the CompactLogix controller and the Kinetix 5100. You will use different
manual motion commands to control the drive actions. You can simulate your own machine control to do things like Enable or Disable the drive, Clear faults,
etc. To use this demo, you will:

 create your Studio 5000 project file (or an existing ACD) and import the L5X program containing the AOI in a subroutine
 download the Kinetix 5100 files (KNX5100C)

Demo Files included with this kit:

The Kinetix 5100 files are in the Standalone Demo Program Files folder. Use KNX5100C software to download these files to the drive. This is described in the
Kinetix 5100 section.

The raC_Dvc_K5100.L5X file is the program we import into Studio 5000. This process is described in the Studio 5000 Logix Designer Software section. If you are
using Studio 5000 Logix Designer v32 and want to use the demo program that was used for creating this kit, you can also just open
CMP_L36ERM_AOI_PRMode_V3.ACD.

NOTE: The opening of the ACD file is not covered since the L5X import will allow any of your ‘custom’ changes to be made upon import, regardless of controller
and Studio version, as well as the naming/addressing of the drive. Using the ACD file in the kit, you will have to use the existing names and hardware or
manually change all of them – the ACD is only provided for your convenience.

The Subroutine OPR_ChangeIndex.L5X will show a sequencer that toggles between the drive executing ‘slow’ and ‘fast’ indexing routine, this is provided for your
convenience to show some guidance on how to use messaging (explicit writes) in a sequential fashion. This example is shown in the Explicit Messaging section.
Controller Demos
CompactLogix L36 + Kinetix 5100 Demo
This demo contains two cases as shown below. The image on the left is the controller inside the DEMO-CMXL36 case. The image on the right shows the Kinetix
5100 standalone demo.

If there is not an Ethernet switch in your configuration, you can use the dual Ethernet/IP ports on the CompactLogix as Ethernet/IP connections between the
CompactLogix and the Kinetix 5100. USB connections can be used for downloading to the Kinetix 5100 drive.

The following software, firmware and hardware configuration are required to use the demo application files.

Software Version Hardware/Description IP Address Firmware

Studio 5000 Logix Designer V32.00 Logix Chassis
RSLinx Classic v4.10 L36 Controller 192.168.1.5 32.0 or >
KNX5100C V2.011
Studio 5000 Logix Designer Software
Studio 5000 Software is used to program the CompactLogix controller. You can use an existing Studio 5000 file or create a new one.
Locate your program to import raC_Dvc_K5100.L5X

From the Main Task, right-click and

choose Add-> Import Program

From your file location choose

raC_Dvc_K5100.L5X

Open the file.

Change the Program
name and Node
number (XXX) to match
your drive

Note: if this is the first

drive you import, the
Operation column
would show ‘Create’
instead of ‘Use Existing’

Verify the Import

content and Click OK
 Next, we change the IP address of the drive.

1. Highlight the Inp_Drive_IP tag in

the AOI
2. Right-Click and select Monitor
3. Click or Press Enter to show the
‘ellipses’
Click the ellipses and enter the
Kinetix 5100’s IP address and click
OK

TIP: Notice there is a 2, in front of the IP address, this implies the use of the CompactLogix front Ethernet/IP port (2) and directly connect to the Kinetix
5100 drive (either directly or through an Ethernet Switch. More information on setting different connection values can be found here:
https://rockwellautomation.custhelp.com/app/answers/answer_view/a_id/1066637/redirect
Kinetix 5100
The Kinetix 5100 Standalone Motion feature demonstrations can be used with the Kinetix 5100 AND CompactLogix controller inside DEMO-CMXL36 demo case.
The content for this demo is based on the Kinetix 5100 Servo Drive with the TLP Motor and demonstrates how they pair to provide a competitively priced
motion solution. Connect the PC workstation to your Kinetix 5100 demo unit as shown. The drive software (KNX5100C) also shown in this section.

Software and Hardware Setup:

The following software, firmware and hardware configuration are required to use the included application files. The KNX5100C software and drive firmware can
be downloaded from the RA PCDC site.

IMPORTANT: You will need the Mini USB cable and filter (included in the K5100 MR. DEMO backpack) to connect to the drive from your PC.

Software Version Hardware/Description IP Address Firmware

KNX5100C V2.01.00.01 2198-E1004-ERS3 / Kinetix 5100 192.168.1.91 V2.002
K5100_GreatDemo2_Cam_v2_11.ecd V2 11 TLP-A070-020-DJA32A / TLP Motor NA NA
K5100_GreatDemo2_Parameters_v2_11.par V2 11
K5100_GreatDemo2_Project_v2_20.prj V2 xxx
Standalone Operation Program Setup:

It is assumed that the KNX5100C software is installed, the USB cable (2198-USBC) + USB Filter (2198-USBF) are connected, and you are able to communicate with
the drive. If you are having any issues, please consult the Kinetix 5100 User Manual.

1. Make sure all the inputs on the front of the demo are in the OFF position (to the left).
2. Open the KNX5100C software on your PC.
3. Click Cancel in Project window that appears.

4. Then open the project file K5100_GreatDemo2_Project_vxxxx.prj from the main menu File > Open.
TIP: All of the Kinetix 5100 drive files are located in the Standalone Demo Program Files folder.
5. Now go online with the drive by clicking the OFF LINE button on the programs main menu bar.

6. Choose the “Download all parameters to drive” option and click OK.

7. When the download is complete you will be prompted to reset the drive. Click Yes to initiate the reset.
8. Now open the E-CAM Editor window.

9. After the window is open, click the Next.

10. Check the Burn to EEPROM when download checkbox and click the Download Table button.

11. Click OK and Yes in the dialog boxes that appear.

12. After these steps have been completed you can run the Indexing and Time Cam demos from the IO panel of the Kinetix 5100 demo box by
following the Great Demo Script.
TIP: If you are NOT using the Kinetix 5100 demo unit, be sure to assign Digital Input 1 as Servo On. The rest of the I/O can be user configured.
CompactLogix Program Operation
The Studio 5000 project was imported from the Studio 5000 Logix Designer Software section. Once this is complete, the imported program will contain a
subroutine that contains a ‘Control Bar’ and the raC_AOI_Dvc_K5100. The imported logic is shown as the second image below:
Below is the imported logic that contains raC_AOI_Dvc_K5100 AOI and a Control Bar that allows you to toggle the Command (CMD) bits (CTRL+T) to issue
commands over Ethernet/IP. You can remove the Control Bar and use the bits directly in your own logic sequence to control the drive. In this subroutine, you
can use PR1 for the indexing demo and PR51 for the E-CAM demo (selectable by changing Inp_Index_Num=1 or 51). Then, toggling CMD_Run_Index=1, you will
execute the PR specified by Inp_Index_Num. The other functions are simply described in the Control Bar. Toggle the Cmd bits to initiate them. The CMD bits
that are used in the AOI will automatically clear when they are complete (Cmd_Jog_XXX will stay active until you clear the Cmd bit, like a Jogging function would
normally do)
Add-On Instructions
Let’s examine the Add-On Instructions and how they are used. We created two Add-On Instructions for different uses.

MSG_CSPath2Hex

This Add On Instruction is how we can create the CIP Generic Message E/IP address as a Comma Separated String and converts it to a Hex String that is used in
the Message.Path element of the Message instruction (MSG) and in the raC_AOI_Dvc_K5100 AOI. Recall that we do not have Class 1 Messaging, so there is no
AOP or drive hardware we can ‘map’ the path to.

raC_AOI_Dvc_K5100

This Add On Instruction (AOI) is used to communicate with the drive and incorporates messaging with the drive. This AOI contains the MSG instructions as well
as the sequencing logic that will perform the drive functions described in the AOI summary tables below. The basis of the AOI contains Command (Cmd), Status
(Sts) and Information (Inf) data constructs. These bits are used as required to perform their functions.

Each table below shows the different functions grouped together.

 This is a summary of the raC_AOI_Dvc_K5100 AOI functions. COMMAND DESCRIPTION
Cmd_Servo_ON Enable the drive through the AOI
Cmd_Servo_OFF Disable the drive through the AOI
Cmd_Jog_FWD Will Jog the Motor in the FWD direction (uses PR99 to do this)
Cmd_Jog_REV Will Jog the Motor in the REV direction (uses PR99 to do this)
Cmd_Home Will execute PR0 – Homing sequence is configured in the
KNX5100C software
Cmd_Stop Will Stop the currently executing Index (this Stop does not
work when executing the E-CAM – Indexing only)
Cmd_Reset_FLT Will reset any Faults or alarms that are on the drive
Cmd_Start_Index Will execute the PR that is selected using Inp_Index_Num
Cmd_Exp_Read Will Read the parameter (Inp_Exp_MSG.Parameter_ID) and
store it in Inp_Exp_MSG.Read_Parameter
Cmd_Exp_Write Will Write the parameter (Inp_Exp_MSG.Parameter_ID) with
data from Inp_Exp_MSG_Write_Parameter and Length of
Inp_Exp_MSG.Write_Length
STATUS DESCRIPTION
Sts_Dig_Outputs Shows the status of the configured Digital Outputs
Sts_Error_Code Shows the current fault code in the drive
Sts_Feedback_Position Shows the drive’s feedback position in counts
INPUT DESCRIPTION Sts_Servo_Ready Bit is ON when Servo is not faulted and ready to be enabled
Inp_Drive_IP Specify the Drive’s IP Address Sts_Servo_Active Bit is ON Servo is enabled
Inp_Control_Mode Specify the drive Control Mode Sts_Zero_Speed Bit is ON when Servo is currently at Zero Speed
Inp_Jog_Speed Set the Jog_Speed (will set bi-directional speed – Sts_Target_SPD_Reached Bit is ON when Servo is at Target Speed
ie: this speed will be Positive and Negative Jog Sts_Target_POS_Reached Bit is ON when Servo is at Target Position
Speed) Sts_Torq_Lim_Active Bit is ON when Servo is in Torque/Current Limit
Inp_Index_Num Specify the PR number to execute Sts_Servo_Faulted Bit is ON when Servo is faulted
Inp_ParID_Exp_MSG Specifies the Parameter ID used for either Sts_Brake_Output Bit is ON when Servo Holding Brake Output is energized (not
Explicit Read or Write holding)
Inp_Read_Exp_MSG The data location of the explicit read data (DINT) Sts_Homed Bit is ON when Servo has been homed
Inp_Write_Exp_MSG The data location used to write to the drive Sts_Overload Bit is ON when Servo has an Overload condition
(DINT) Sts_Warning Bit is ON when Servo has a Warning (Alarm)
Inp_Write_Exp_MSG_LEN The length of the data for the write operation Sts_Comm_Loss Bit is ON when Communications is lost between
(Bytes) drive/controller
Sts_Jog_Active Bit is ON when Servo is Jogging
Sts_EN The AOI is executing
Sts_ER The Messaging in the AOI has an Error

This AOI contains the explicit Messaging function used to change or read a single drive parameter at a time.
Explicit Message Read/Write
Explicit Parameter Read/Write functionality is part of the raC_AOI_Dvc_K5100 AOI. Using this operation will allow you to read/write a SINGLE permissible
parameter in the drive.

Explicit Read:
To use the explicit read, follow this sequence:

1. Enter the Parameter_ID you want to read

2. Toggle the Cmd_Exp_Read bit (or set it in logic)
3. Once the Read successfully occurs, the Cmd_Exp_Read bit is cleared (by the AOI); this change of state can be used by your logic to indicate that the read
is completed and successful
The value read is stored in the ReadParameter location and can be moved to a user defined location if required.
TIP: if there is an error reading the value, either with the data or with the MSG itself, the AOI will set the .ER bit.
Explicit Write:

To use the explicit write, follow this sequence:

1. Enter the Parameter_ID you want to write

2. Enter the parameter value into the Write_Parameter data location
3. Enter the length of the write into the Write_Length data location (size in bytes – can be 2 for Integer, 4 for DINT – the data length for each Parameter ID
can be found in the Kinetix 5100 Parameter XL sheet)
4. Toggle the Cmd_Exp_Write bit to initiate the explicit write, once the write is successful, the Cmd_Exp_Write is cleared (by the AOI); this change of state
can be used by your logic to indicate that the write is completed and successful (this is shown in the example below)
Explicit Write value check: The AOI also has a ‘check’ function that it will verify that the data written to the drive actually matches what was written by doing
a ‘check’ before clearing the ‘write’ bit.
Example Sequence to perform the Explicit MSG (Read/Write) for Slow/Fast Indexing
Another part of the explicit messaging operation is sequencing to write multiple parameters. This is shown here as an example that selects between a Fast or
Slow index as the ‘first index’ of the demo indexing sequence.

This concept can be used for changing other indexing dynamics, like move, acceleration, deceleration, or position using the same idea (but using different data).
When changing the dynamics of an index, it’s typical for two parameters to get changed, the Control Setting (which contains the index data, like speed,
acceleration, deceleration, dwell, etc) and the Index Distance (data in counts).

We can use a sequencer to change the drive parameters one value at a time. There is also a delay required in between the writing of the values, the time
duration will depend on your network architecture. This time is the latency of the Ethernet/IP network in writing the value to the drive (this is not a CIP motion
drive where the data is updated at the Coarse Update Period – it can take some time to update).

A ladder logic example of writing two parameters to the drive for executing a slow and fast index is shown below, the move distance is the same for both
indexes (the OPR_ChangeIndex.L5X subroutine is also in the Kit file and can be imported so you can reference it):

Select the Slow or Fast Index. Toggling the Index bit will trigger the Wrk_Seq to load the correct sequencer value.
For the Fast_Index, Load the Control Setting into Parameter ID 399 (length of 4) and SET the Write Cmd (Decoding the Control Setting is shown in Appendix A),
set the Cmd_Exp_Write bit:
For the Slow_Index, Load the Control Setting into Parameter ID 399 (length of 4) and SET the Write Cmd (Decoding the Control Setting is shown in Appendix A),
set the Cmd_Exp_Write bit:
Once the write bit is cleared (automatically done by the AOI), the drive is not ready to receive another write immediately, we use a Dwell_Timer to delay the
next write operation, the actual times will vary depending on your application. We write the Move Distance: 30,000 counts, Parameter ID 400 (length = 4 bytes)
and SET the Write Cmd. A typical dwell time is 400-1000ms, 5,000ms is only shown as a default value.
That is the example that will write 2 parameters back to back. Once this is complete, you can set the PR1 to be the ‘starting index’ (Inp_Index_Num=1) and Set
the Cmd_Run_Index bit to begin the demo indexing sequence.
Appendix A: Decoding the Indexing Control Setting
The explicit read/writes for changing indexing settings involves changes to the control setting. This Parameter (ID#399 for PR1) contains a High and Low word
that can be changed from Hex into Decimal. This section shows how to ‘decode’ the settings so you can change any indexing value.

The High/Low word values correspond to individual selections shown below using the actual Index selection in KNX5100C. Notice that the drive uses pull-down
selections for different index dynamics like speed, acceleration, and deceleration. This image is the Fast Index setting in KNX5100C software. We will show how
to decode the Control Setting so we can set ID#399
using the Studio 5000 program. This approach to
reading/writing index values works well for a single
index approach. It also will imply that you use all the
possible Speed/Accel/Decel/Delay are pre-loaded in
the drive and the control setting would select your
dynamics using the pull-down value.
If we chose our values (from the ‘Fast’ Index in our Demo):
High Value Low Word Value
Word
A 8 (1000 RPM) X 3 (Point to Point Command-Proceed to next PR)
B 4 (500ms delay) Y 0 1 0 0 (REL, OVLP, INS) – this is 4 in decimal
C 0 (Do not load next command) Z E (Accel of 50) – this is 14 in decimal
D 0 U E (Decel of 50) – this is 14 in decimal
HEX 0048 HEX EE43
This becomes: 0 0 4 8 E E 4 3 which is 4,779,587 Decimal, this is the value we write to ID#399. This is the value of the Fast Index Control Setting.
Appendix B: Troubleshooting tips for the AOI
If the AOI is not operating correctly, use this guidance to solve the problem.

In addition to the guidance here, you also must change the IP address of the AOI and of the drive.

 AOI hangs with Write bit being high - Back to Back write operations will require a ‘delay’ be used to ensure the drive is able to write new data. The
delay used will vary depending on the network architecture and the drive’s RPI. Typical values are anywhere from 400-1000ms. If your application can
use a faster delay, test this out and use that value.
 AOI shows Communication Fault – this can be a problem with the actual communications between the drive and controller (media not connected,
faulty, etc). It can also be the AOI’s IP address not matching the connected drive’s IP address. We have found that if the IP address is not initially set
correctly, and then is set after the AOI is already running, the AOI has to be ‘restarted’ whether that is with interlocking logic or transitioning the
controller’s mode from RUN->PROG->RUN
 Communication Faults view and meaning
 The AOI is designed to pass-through the drive fault code in Hex
 If the Fault code is #h ffff – that is an indication that the communications to the drive is not active. That could be a connection issue, an IP
address issue, typically this indicates a physical/setting problem
 The AOI is ‘self healing’ meaning that if you fix the #h ffff connection issue, the communication fault will clear itself
 Anytime the Sts_ER bit is set, that indicates a problem with the MSG instructions – you can click the Elipsis on the AOI MSG_Instructions to see
what the ‘status’ of each MSG instruction is, some common errors are from not providing the correct message length.

Image showing NO MSG ERROR (Sts_ER=low):

Image showing Communication Error with Write MSG (Sts_ER=High):
Appendix C: Kinetix 5100 Standalone Demo
If you have the Kinetix 5100 demo and want to become familiar with it, use this section to learn some different standalone features the drive has. This section is
intended to use the Kinetix 5100 WITHOUT a controller, if a controller is connected, remove the connection.
This demonstration is separated into the following topics:

 MOTION – K5100 STAND-ALONE

 MOTION – K5100 E-CAM

If you are using a Standalone Kinetix 5100 drive without the Controller demo box:

 make sure you have Digital Input 4 (Index Select 1) HI. This will allow PR1 to begin and not execute the Home Function (PR#0) continuously.
 Your drive/motor must be configured and tuned, you can use the PRJ file included, however, if your drive and motor are different (loose components –
not the demo hardware) you still need to perform a tune on the setup.
 Motion – K5100 Standalone

Storyboard Story in Action

The Kinetix 5100 servo drive standalone capability provides broad motion 1. Demonstrate Standalone drive functionality
Motion – K5100 Standalone

functionality without the need for a separate control system. The servo drive This demo can be run with or without the KNX5100C software open.
includes several different operating modes, that can be controlled via onboard a. Follow the instructions in the Configuration Guide to prepare the
digital inputs, thus reducing system cost by removing the need for a separate demo for operation.
programmable controller. Included are:
1. Using the Demo Inputs, here are a few things to show…
 Position Control - PR Mode  DI1 – Enable
 Speed Control - Sz Mode  DI2 – Alarm Reset
 Torque Control - Tz Mode  DI3 – Home/Index Trigger
 DI4 – Home or Index Selector
When in Position Control mode, the internal registers of the servo drive
generate motion commands and all settings are saved in the parameter file of  DI5 – Jog (forward)
the servo drive. The servo drive provides the ability to configure 100 advanced  DI6 – E-CAM Trigger
PR commands, including: a. Home the Axis - move the flywheel to 12 o’clock, DI1=ON, DI4=OFF
then DI3=OFF to ON. DO4 will illuminate to indicate homing complete
 write command and drive display will scroll through actual position value.
 homing method
 index positioning b. Indexing – DI1=ON, DI4=ON then DI3=OFF to ON. Runs a series of
 position command
pre-configurated indexes and then returns to the home position.
 speed command  arithmetic operation
 jump command
The graphical user interface, of the KNX5100C configuration software, offers
a simple setup and programming environment. Providing additional cost saving
for simple motion systems by reducing programming time.
c. Jog – DI1=ON then DI5=ON to jog and OFF to stop.
2. Demo Outputs…
Value  DO1 – Ready
 Kinetix 5100 servo drives have stand-alone capability,  DO2 – Alarm/Fault
enabling operation without a separate control system,  DO3 – Enable
providing valuable cost savings.  DO4 – Homed
 Motion – K5100 E-CAM

Storyboard Story in Action

Small motion systems, typically less than 8 axes, often require coordination 1. Demonstrate Time Cam functionality
Motion – K5100 E-CAM

between some, or all the axes. This can be simple coordination using electronic This demo can be run with or without the KNX5100C software open.
gearing (E-Gear) or may require something more sophisticated like an
a. Follow the instructions in the Configuration Guide to prepare the
electronic cam (E-CAM) profile. demo for operation.

Usually motion systems require a controller to synchronize axes. But now RA 2. From the Demo Inputs…
has a motion solution offering a stand-alone operation with coordinated control.
 DI1 – Enable
The Kinetix 5100 supports E-Gear and E-CAM functions without requiring
a logic controller to manage axes synchronization.  DI2 – Alarm Reset
 DI3 – Home/Index Trigger
The E-Gear or E-CAM function can be used in either of two different hardware  DI4 – Home or Index Selector
configurations. Option 1: with an external master encoder (TTL type)  DI5 – Jog (forward)
connected to the drives auxiliary feedback port. Option 2: using the encoder
 DI6 – E-CAM Trigger
output signals from another Kinetix 5100 (buffered encoder output) wired
to/from the IO connection port. a. Home the Axis - move the flywheel to 12 o’clock, DI1=ON, DI4=OFF
then DI3=OFF to ON. DO4 will illuminate to indicate homing complete
The E-Gear ratio can be changed via the drives digital inputs or by using and drive display will scroll through actual position value.
motion command programming (PR Mode internal register). The E-CAM b. Time Cam – DI1=ON then DI6=OFF to ON. The cam profile executes
function supports up to 720 cam points and includes many pre-configured four times over an interval of 16000ms. The cam can be re-triggered
profile types to simplify profile creation. E-CAM execution types supported by transitioning DI6=OFF to ON again.
are once, continuous, and Time Cam.

The Kinetix 5100 provides an additional benefit that allows the drive to switch
between control modes, including E-Gear and E-CAM functions, providing
greater operational flexibility.

Value
 Kinetix 5100 servo drives provide axes synchronization
without a controller, saving you money while keeping the
system simple and easy.
Version History

The following table captures version history including bug fixes and additional feature content added.

Version Date Description

v1.0 July 2020 Initial release – Mr. Demo (CompactLGX) interfacing the Kinetix 5100