Using KNX5100C Software for Command
Source Velocity Changes
This function is useful for the end user trying to use two digital inputs to change from an Analog Input
Speed reference to 3 other digital speed references.
Use 2198-UM004, Kinetix 5100 Digital Servo Drive User Manual, Chapter 10, for a tabular array of these
inputs and speed references.
Speed Command S1 could come from an Analog input OR be digital command speed 0, when SPD1 and
SPD0 are both 0. SPD1 and SPD0 are digital inputs assigned in the Digital IO/Jog Command Folder.
When SPD1 or SPD0 are non-zero, 3 other digital speeds could be utilized.
This document will go through setting up the 3 digital speeds and use of the KNX5100C Scope to show
the speed change along with Digital Input Status changes.
Using Connected Components Workbench/KNX5100C Software, the Kinetix 5100 connected to a TLP
servo motor will be put in speed mode to jog a motor with a digital input.
1. Wire and connect the TLP motor power and feedback cables as per requirement. Use Appendix
A of 2198-UM004 to find power and feedback terminals.
2. Apply both control and main power to your drive as per Appendix A, Figure 77 of the 2198-
UM004 user manual. Note if the motor has a brake, the brake configuration in the Appendix A
must be wired.
3. The Kinetix 5100 MOD led will flash red indicating a fault, Net led will be off and Charge led will
be solid Green.
4. Connect the USB cable from your pc to the Kinetix 5100 USB port. Note use of 2198-USBF per
Technical Note in KCS(Knowledgebase),
[Link] may be required
for high frequency interference between your pc and the Kinetix 5100 Drive.
5. Open Connected Components Workbench V12 and later software, go to Tools and open
KNX5100C Software.
6. Select the Add tab to add a specific Function List of the Kinetix 5100.
7. Select control mode as Speed Control Mode.
In the PC Control Panel and Device Manger, if the USB connection is made, the Ports (COM and LPT)
should show the Kinetix 5100 com port which then should match to the KNX5100C Communication
settings or at least allow the selection as shown.
NOTE: Using the 2198-USBC requires the Device Manager to see the Kinetix 5100 in a specific COM port
thus always check if the cables are connected, no anti-virus is blocking, the 2198-USBF may be needed,
etc.
No Software Driver is required to connect to the 2198-USBC/USBF and Kinetix 5100.
8.
9. Select the Connect button in the Communication Settings.
10. Select Download All Parameters to the drive.
11. A note should now come back that all parameters have been downloaded successfully.
12. A connection interruption will appear which is there to tell the user that existing motion will be
affected, if such is in use. Select Yes to complete the download.
13. When KNX5100C downloads to the drive, the K5100 drive needs to reset and thus the last
comment screen. Select OK.
14. Close the Communication Setting Folder. Notice that KNX5100C shows a high-lighted online.
15. In the Function List select the Digital IO and Jog Control. A warning will appear about Jog and
communication but select OK.
16. The Digital IO/Jog Control Folder opens.
17. Use 2198-UM004 Chapter 7 and KCS Technical Note,
[Link] , to understand
more on this Function List component, if required. This serves as a digital input and output
battery box, rather than use actual 24 Vdc wires to the 2198-TB terminal block. You can do this
motor jog either way but this document will focus on using this software function to Servo On,
to Jog, etc.
18. At the top of the Digital IO/Jog Control, left mouse click the Edit DIO Configuration. There are
many default inputs not required therefore this document will only use those required to jog.
Per note 10, go to items listed in step 17 above, describing the Digital IO/Jog Control more
thoroughly if more information is required.
19. Now move your mouse to each default listed and you will notice a NO and NC and OK to the
right. This means the input can be true with 24 Vdc applied (NO) or removed (NC). The OK is
how you change any characteristic.
20. For DI2, Register Speed Command selection (1-4) Bit 0 . Next select OK. This selection now
sticks with DI2. Do the same for DI3, selected for Register Speed command selection (1-4) Bit 1.
Select OK. Put all other selected input to Disabled (then OK to retain) but leave DI5 default as
Alarm Reset. Your final screen should look as follows:
21. Minimize the Digital IO/Jog Control Folder and will show at the bottom of the KNX5100C
Software as available. This function will be used again shortly.
22. Go to the Function List and Motor Selection and ensure the Data Source is Motor NV selected
for a TLP type motor which is used here. The TLP motor non volatile memory is read by the
Kinetix 5100 and populates the drive data. If you are using a MPx motor, this Data Source needs
to be Catalog Number and selected correct MPx type motor.
23. Select NEXT two times and a final screen to download will appear. Since an Emergency Stop as
NO is default you may have a specific fault in the system. Go ahead and download since you
have disabled it in software but now the drive needs to know the function is not used anymore.
24. Once again a connection interruption appears but select OK. Then the Reset Module OK and
select OK.
25. The drive now reads the TLP motor data in motor NV Memory and Auto Identity is completed.
26. Select OK and also close the Motor Selection Folder. All is complete to now spin the motor.
NOTE: If motor has a brake, follow the user manual to configure and wire.
NOTE: Ensure that motor rotation can be made.
27. Open the Command Source Folder.
28. Enter in P1.009 a speed of 250 RPM. P1.010 a speed of 750 RPM. P1.011 a speed of -500 RPM
or whatever you desire in your application. Note that the 2 digital inputs have been selected
already. Going back to the Command Source Truth table, the digital inputs vs speed should look
like the following:
These values also can be seen in the Parameter list under General and are called
PresetVelocityCmd_Limit_1_2_3.
29. Open the Scope Folder in KNX5100C. To learn more about the Scope Folder Function, access the
2198-UM004, Kinetix 5100 Single-axis EtherNet/IP Servo Drives User manual. For now, the jog
speed will be noticed in the Scope function.
30. Uncheck all but CH1 and CH2 functions as shown. Use the pull down in CH1 and select Motor
Speed-Real Time [rpm] which is the actual TLP motor feedback to the Kinetix 5100 Drive. For
CH2, select DI Status to show the speed vs the digital input status feature of Command Source.
31. Next open the Fine-tuning and select the Enable Channel Fine tuning for CH1 and CH2 only.
Uncheck the other CHs. To monitor the speeds, in the Display Speed Range, select a minimum
of -1000 RPM and maximum of 1000 RPM for CH1. For CH2, select DI Status range minimum of
0 and maximum of 10. Select OK.
32. Open the Digital IO/Jog Control Folder. Since we did not configure an analog input, speed 0 with
DI2 and DI3 off will result in 0 speed. With DI2 on and DI3 off, speed will be 250 RPM. With DI2
off and DI3 on, speed will be 750 RPM. With both DI2 and DI3 on, speed will be -500 RPM.
33. Deselect the Edit DIO Configurations.
34. Note the Status and Enable functions to the right of the digital input. These will be used to
toggle Servo On and run the motor as discussed in step 17 above. This serves as a digital battery
box. Select the checkbox to the left of the On/Off under the Enable for the 4 specific IO
functions as shown.
35. Select the On/Off for the Servo On. The drive will now power the motor and hold torque. You
will see the Status to go from Off to On. This serves as a digital battery box for the inputs.
36. Open the scope and select RUN(top of the Scope) to see the speed changes.
37. Toggle DI2 and DI3 per the above truth table to see the 4 different speeds. Note that the speeds
merge at the deceleration and acceleration rates of P1.034 and P1.035 for Acceleration and
Deceleration Times along with P1.036 for S Curve. An example of before and after changing of
these values is shown next.
The following are scope plots.
With P1.034 and P1.035 set to default 200 ms with P1.036 S Curve smoothness, this more resembles a
Trapezoidal request.
With P1.034, P1.035 and P1.036 set to 1000 ms notice the differences in speed acceleration and
deceleration.
Finally notice the white line for DI status. The value is decimal on the right Y axis. Minimum was set to 0
and Maximum to 10 only due to monitoring DI1, DI2 and DI3.
Notice when DI Status is a value of 1, no speed. DI Status of 3 (or DI1 and DI2 are on), speed of 250 RPM
for P1.009.
DI Status of 5 (or DI1 and DI3 are on), speed of 750 RPM for P1.010.
Finally DI Status of 7 (or DI1, DI2 and DI3 are on), speed of -500 RPM for P1.011.
Notice no tuning or optimizations have been done at this time.
Congratulations, you are controlling a Kinetix 5100 to TLP Motor speed with various inputs at various
speeds with different acceleration and deceleration and smoothness characteristics!