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Configuring the Kinetix 3 Drive Chapter 5
Motor Encoder Units Sets available Motor Encoder Units:
• Position Label: When User is selected for Displayed Units, this is
the user-defined label for position values relating to the motor
encoder.
Limited to 16 characters in length.
• Position Scale: When User is selected for Displayed Units, this is
the user-defined conversion factor used to convert position
values into user units relative to the motor encoder.
In counts per user unit
• Velocity Label: When User is selected for Displayed Units, this is
the user-defined conversion factor used to convert velocity
values into user units relative to the motor encoder.
In counts per second per user unit.
• Velocity Scale: When User is selected for Displayed Units, this is
the user-defined conversion factor used to convert velocity
values into user units relative to the motor encoder.
In rpm per user unit
• Acceleration Label: When User is selected for Displayed Units,
this is the user-defined conversion factor used to convert
velocity values into user units relative to the motor encoder.
In rpm per user unit.
• Acceleration Scale: When User is selected for Displayed Units,
this is the user-defined conversion factor used to convert
acceleration values into user units relative to the motor encoder.
This is displayed in revolutions per second
2
per user unit.
Stopping Functions Sets available Stopping Functions:
• Over Travel Stop Method: The method used to bring the motor to
a stop when an overtravel condition occurs:
Current Control: The Maximum Stopping Current is applied to
reduce the measured speed to zero.
Dynamic Brake: The motor windings are shorted together and
connected to the positive DC bus to reduce the measured speed
to zero.
• Maximum Stopping Current: Current is applied to motor in order
to bring the axis to a stop in the event of an overtravel condition.
• Fault and Disable Braking: A method used to bring the axis to
zero speed by use of the internal, dynamic brake relay in the
event of a fault or disable condition.
Note: This selection affects the operation of the drive soft-start
circuitry, because the hardware is shared.
Brake and Hold: The motor windings are shorted together and
connected to the positive DC bus whenever the drive is faulted
or disabled.
Brake and Release: If the motor speed is non-zero when the
drive faults or changes to a disabled state, the motor windings
are shorted together and connected to the positive DC bus until
zero speed is reached, and then are disconnected.
Note: In this mode, at zero speed, the soft-start circuitry is
operational only when control power is absent.
Free Stop: The motor windings are not shorted together and the
motor coasts to a stop.
Note: In this mode, the soft-start circuitry is operational only
when control power is absent.
Free Stop and Hold: The motor windings are not shorted together
until the motor has coasted to a stop.
• Disable Delay: The time from when the Drive Disable command
is received to when the motor power is removed.
The range is 0 to 1000 ms. The default is 0.
• Braking Application Speed: Motor feedback speed below which
the drive engages the motor brake signal, when the drive is
disabled.
The range is 0 …1000 rpm (millimeters per second for linear
motors). The default is 100.
Parameter Description
- Ultraware Software 1
- Important User Information 2
- Summary of Changes 3
- New and Updated 3
- Information 3
- Table of Contents 5
- Chapter 3 6
- Chapter 4 7
- Chapter 5 8
- Chapter 6 9
- Chapter 7 10
- Creating Custom Motors 10
- Appendix A 10
- Ultraware Software Updates 10
- Additional Resources 12
- Before You Begin 13
- Download Ultraware 14
- Software 14
- Using Online Help 14
- How Ultraware Software 14
- Graphical User Interface 15
- Workspace Window 16
- Output Window 17
- Client Area 18
- Main Menubar 19
- Toolbars 20
- Status Bar 20
- Motion Library Dialog 20
- Starting Ultraware 21
- Upgrading Drive Firmware 22
- Configuration 23
- Opening Ultraware 24
- Creating, Opening and 25
- Saving Ultraware Files 25
- Saving an Ultraware File 27
- Creating a New Drive 28
- Importing and Exporting a 28
- Importing a Drive 29
- Working in the Workspace 30
- Drag and Drop 33
- Configuring the Ultra3000 36
- Current Control Panel Window 50
- Indexing Control Panel 52
- – Motor 77
- – Feedback) 77
- – Command 77
- Motor Diagnostics 87
- Motor Feedback Diagnostics 88
- Motor Marker Diagnostics 89
- Diagnostic Testing Procedure 92
- Outputs window: 99
- Understanding the Analog 101
- Outputs Window 101
- Understanding the Monitor 103
- Oscilloscope Window 106
- Understanding the 106
- Channel Setup Window 109
- Understanding Ultra3000 110
- DeviceNet window: 114
- Understanding the Faults 124
- ² Motor encoder 129
- Understanding the Service 133
- Information Window 133
- Introduction 135
- Configuring the Ultra5000 136
- Ultra5000 Drive Branch 139
- ² 58 = Excessive CPU Load 141
- Installing Drivers 143
- Drive Report 143
- Understanding the Motion 144
- Understanding the Jog 145
- Understanding the Move 147
- Understanding the Cam 149
- Inserting a Cam Table 152
- Importing a Cam Table 152
- Importing a CSV File 152
- Cam Table branch 153
- Properties Pane 155
- Table Pane 156
- Position Profile Pane 157
- Velocity Profile Pane 157
- Acceleration Profile Pane 158
- Understanding the Gear 159
- Understanding the Motor 161
- Ultra5000 drive 164
- Understanding the Tuning 166
- Autotuning Window 170
- Encoders Window 173
- Understanding the Digital 178
- Inputs Window 178
- Understanding Ultra5000 191
- Monitoring Your Ultra5000 194
- Ultra5000 Status 197
- Programs Branch 203
- Understanding the Archives 203
- Understanding the Files 204
- Understanding the Global 204
- Variables Branch 204
- Command Description 217
- Configuring the Kinetix 3 220
- Understanding the Kinetix 3 223
- Drive Branch 223
- Using the Setup Wizard 234
- Understanding the Preset 237
- Understanding the Follower 239
- Understanding the Indexing 241
- Understanding the Homing 244
- Outputs window 270
- Monitor Setup Window 274
- Understanding Kinetix 3 280
- Status Displays 280
- Understanding the Fault 294
- Detail Window 294
- Creating and Running Programs 297
- Configuring a Project 298
- Executing Project Commands 300
- Using Source Files 301
- Using Header Files 303
- Using the Motion Library 305
- Using the Text Editor 307
- Find Next 308
- Select All 309
- Go To Corresponding { } ( ) 309
- Go To Line Number 310
- Bookmarks 310
- Toggle Bookmark 311
- Next Bookmark 312
- Previous Bookmark 312
- Show Line Numbers 313
- Wildcard Search Characters 314
- The Replace dialog opens: 315
- Using Executable Program 318
- Importing and Exporting 321
- Executing Your Program 323
- Kill (Program) 324
- Using Direct Commands 325
- Ultra3000 Direct Commands 326
- Ultra3000 326
- Ultra5000 Direct Commands 327
- Ultra3000 Drive Branch 327
- Creating Custom Motor 330
- Parameter Sets 330
- Motor Database 331
- Using the Linear Motor 333
- Using the Rotary Motor 335
- Importing Motors 336
- Exporting Motors 336
- Version 1.60 338
- General 339
- Version 1.50 340
- Version 1.40 341
- Version 1.30 342
- General Enhancements 343
- Installation Notes 344
- Rockwell Automation Support 354
- Documentation Feedback 354
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