Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 203)

Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 203
Kinetix 300 Drive ID Tag Numbers Appendix C
20
4
DINT
R/W
Pr
ogr
ammable Output F
unc
tion: OUT4
0 = N
ot Assi
gned
1 =
Z
er
o Spe
ed
2 =
In S
pee
d W
indo
w
3 = C
urr
en
t Limit
4 =
Run ti
me
fau
lt
5 =
Re
ady
6 =
B
rak
e
7 =
In pos
iti
on
X
20
5
DINT
R
Cu
rr
en
t hal
l c
od
e
Bit
0 =
Ha
ll 1
Bit
1 =
Ha
ll 2
Bit
2 =
Ha
ll 3
20
6
DINT
R
Primar
y encoder c
urr
en
t v
alue
Enc
oder c
oun
ts
20
7
DINT
R
Registra
tion p
osition
Enc
oder c
oun
ts
X
20
8
REAL
R
Registra
tion p
osition
U
ser units
X
20
9
RE
AL
R/
W
Ta
rg
et pos
iti
on
U
ser
uni
ts
X
21
0
REAL
R/W
Ac
tual position
U
ser units
X
21
1
REAL
R
Position err
or
Enc
oder c
oun
ts
X
21
6
DINT
R/W
Th
e t
olerance ar
ound the c
ommanded
po
sition outside
of
whi
ch the dri
ve
wil
l a
ss
er
t a
Ex
ces
s P
os
iti
on E
rr
or
Fa
ult w
hen the Ma
x E
rr
or T
ime
is
e
xc
ee
ded
.
Enc
oder c
oun
ts (positiv
e)
X
21
7
DINT
R/
W
Enc
oder c
oun
ts (ne
ga
tiv
e)
X
21
8
DINT
R/
W
O
ff
or O
n depe
nding if
sof
twar
e tr
av
el
limits should be
used
.
0 = Off 1 = Di
sa
bl
e and C
oas
t
2 =
R
ampe
d D
ec
el and
D
is
abl
e
X
21
9
RE
AL
R/
W
If S
oft Limits ar
e On, the p
osition tha
t when r
eached
,
the d
riv
e wi
ll a
ss
er
t a
Sof
tw
ar
e O
ver
tr
av
el
fa
ult
.
U
ser units (
positiv
e)
X
22
0
RE
AL
R/
W
U
ser
uni
ts (
neg
at
iv
e)
X
22
7
REAL
R/W
Ho
mi
ng acc
elera
tion/
decel
er
ation r
at
e
Ra
nge
0…10
,000,0
00 UU per
se
cond
2
.
X
22
8
RE
AL
R/
W
The new positio
n of the mot
or aft
er
the homing
seque
nc
e
is
com
ple
te. All
subs
equ
ent ab
sol
ute m
ov
es
ar
e tak
en r
elativ
e t
o this new z
er
o position.
Ra
nge
: -
3276
7…+
327
67 us
er uni
ts
.
X
22
9
DI
N
T
R/W
Ho
mi
ng mod
e: Hom
e P
osi
tion O
ff
se
t
Ra
nge
: +
/- 2
,147,4
18,11
2 encoder counts
.
23
0
RE
AL
R/
W
For
homing
method
s tha
t use one v
elocit
y setting
, this
tag is used as the v
eloc
it
y.
Ra
nge
: -
10,00
0…+
10,00
0 UU/s
ec
.
X
23
1
RE
AL
R/
W
Fo
r homing methods
that use
tw
o
ve
locit
y settings
(fast and slo
w
), this tag is
used as the slo
w
v
eloc
ity
.
Ty
pic
ally
, this tag is
used t
o cr
ee
p t
o a homing position.
X
Ta
ble
78 -
Kinetix 300
D
riv
e
Ta
g Numbers (continued)
ID
Da
ta
Ty
p
e
A
ccess
D
escript
io
n
Value/Notes
Moti
onV
ie
w
P
ag
e
U
sed
Top Lev el
Motor-Synchronous
Motor-Line ar
General -Synchronou s
General -Linear
Ether Net
Ether Net /IP (CIP )
Digita l I/O
Analog I/O
Veloci ty Limi ts
Posi tio n L im its
Dyn am ics
Indexing
Homi ng
Monitor
Fau lts