Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 107)

Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 107
MotionView Software Configuration Chapter 5
Current
The Kinetix 300 drive has a special indexing configuration type of Current that
supplies a specified current for a fixed time as part of executing the index table.
You are able to transition to this type of index without disabling the drive. When
in this mode, the position and velocity loops do not engage. When transitioning
from Current mode to Position or Velocity mode, the drive begins tracking
commands with the current position or velocity of the drive. The drive will not
attempt to correct for the movement of the motor while in Current mode.
When using Current Mode distance, velocity, acceleration, deceleration and
batch count parameters are not programmable.
In this type of index the drive applies the specified current for the Dwell
parameter number of milliseconds. All of the thermal protections continue to be
active if the specified current exceeds the continuous current rating of the drive or
motor.
Figure 60 shows an example of a current index.
Figure 60 - Current Indexing
Dwell Time
Time
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t