Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 229)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 231
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