Page 1 Reference Manual Integrated Motion on the EtherNet/IP Network ControlLogix, CompactLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755...
Page 2 Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
Page 3 Summary of changes This manual contains new and updated information. Use these reference tables to locate new or changed information. Grammatical and editorial style changes are not included in this summary. Global changes This table identifies changes that apply to all information about a subject in the manual and the reason for the change.
Page 4 Summary of changes Topic Name Reason Acceleration Control Attributes page 187 Updated minimum, maximum, and default values. Acceleration Control Configuration Attributes page 189 APR Fault Attributes page 279 Auto-Tune Configuration Attributes page 258 Axis Exception Action page 283 Axis Info Attributes page 234 Axis Safety Status Attributes page 414...
Page 5: Table Of Contents
Table of contents Preface Additional Resources .......................11 Legal Notices ..........................12 Chapter 1 Integrated Motion on the Integrated Motion Axis Control Modes and Methods ..........16 Control Modes ........................16 EtherNet/IP Network Position Control Mode ..................17 Velocity Control Mode ..................18 Torque Control Mode ....................20 No Control Mode ....................21 Control Methods ......................21 Motion Instruction Compatibility ................22...
Page 6 Table of contents Motion Control Axis Behavior Model ................51 Active Control Axis Behavior Model .................52 Feedback Only Axis Behavior Model .................54 CIP Motion Converter Axis Behavior Model ............56 Motor Attributes Model....................57 Position Control Behavior .....................58 Position Feedback Selection ..................59 Position PI Gains ......................60 Velocity Feedforward ....................60 Position Loop Output Filters ................61 State Behavior ........................61...
Page 7 Table of contents Chapter 4 CIP Axis Attributes Control Mode Attributes ....................187 Acceleration Control Attributes ................187 Acceleration Control Configuration Attributes ..........189 Command Reference Generation Attributes ............191 Command Generator Configuration Attributes ......... 191 Command Generator Signal Attributes ............195 Current Control Configuration Attributes ............
Page 8 Table of contents Module/Node Fault and Alarm Attributes ............297 Feedback Attributes ......................302 Feedback Interface Types .................... 302 Feedback Configuration Attributes ................. 304 General Feedback Info Attributes ................316 General Feedback Signal Attributes ................. 316 Motion Control Attributes ....................317 Motion Control Configuration Attributes ............
Page 9 Table of contents Chapter 5 Module Configuration Module Configuration Block Attributes ................ 471 Module Class Attributes ...................... 473 Attributes Module Axis Attributes ......................474 Module Feedback Port Attributes ..................489 Module Timing Attributes....................490 Module Support Attributes ....................492 Index Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 11: Preface
CompactLogix™ 5370 Controllers User Manual, publication Describes the necessary tasks to install, configure, program, 1769-UM021 and operate a CompactLogix 5370 controller. ControlLogix® System User Manual, publication Describes the necessary tasks to install, configure, program, 1756-UM001 and operate a ControlLogix system.
Page 12: Legal Notices
Preface Publication Title Description Motion Coordinate System User Manual, publication Provides details on how to create and configure a MOTION-UM002 coordinate motion system. PowerFlex® 527 Adjustable Frequency AC Drive User Provides information that is needed to install, start-up, and Manual, publication 520-UM002 troubleshoot PowerFlex 527-Series Adjustable Frequency AC drives.
Page 13 Apache License, Version 2.0 OpenSans License Trademark Notices Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact I/O, ControlLogix, CompactLogix, DCM, DH+, Data Highway Plus, DriveLogix, DPI, DriveTools, Explorer, FactoryTalk, FactoryTalk Administration Console, FactoryTalk Alarms and Events, FactoryTalk Batch, FactoryTalk Directory, FactoryTalk Security, FactoryTalk Services Platform, FactoryTalk...
Page 14 Preface All other trademarks are the property of their respective holders and are hereby acknowledged. Warranty This product is warranted in accordance with the product license. The product’s performance may be affected by system configuration, the application being performed, operator control, maintenance, and other related factors. Rockwell Automation is not responsible for these intervening factors.
Page 15: Integrated Motion On The Ethernet/Ip Network
Chapter 1 Integrated Motion on the EtherNet/IP Network Use this manual to review reference descriptions of the AXIS_CIP_DRIVE attributes and the Studio 5000 Logix Designer® application Control Modes and Methods. Review Control Modes page 16 for a reference for the Control Modes and Control Methods that explains when you can use an axis attribute in an individual control mode.
Page 16: Integrated Motion Axis Control Modes And Methods
Chapter 1 Integrated Motion on the EtherNet/IP Network Attributes associated with components that are common to all axis instances of a multi-axis CIP Motion device or module are detailed in Module Configuration Attributes page 471. Integrated Motion Axis The Motion Control Axis Object covers the behavior of various motion control system devices that includes feedback devices, drive devices, standalone converters, Control Modes and Methods and motion I/O devices.
Page 17: Position Control Mode
Integrated Motion on the EtherNet/IP Network Chapter 1 The Control Modes are: • B - Bus Power Converters (No Control Mode, No Control Method) • E - Encoder, Feedback Only (No Control Mode, No Control Method) • P - Position Control Mode •...
Page 18: Velocity Control Mode
Chapter 1 Integrated Motion on the EtherNet/IP Network A feedback device for this configuration is optional. In the absence of a feedback device, actual position can be estimated by the drive and returned to the controller. Closed Loop Position Control Method A motor control device configured for closed loop position control is traditionally referred to as position loop drive or position servo drive.
Page 19 Integrated Motion on the EtherNet/IP Network Chapter 1 A feedback device for this configuration is optional. In the absence of a feedback device, actual velocity can be estimated by the drive and returned to the controller. Closed Loop Velocity Control Method A motor control device configured for closed loop velocity control is traditionally referred to as velocity loop drive or velocity servo drive.
Page 20: Torque Control Mode
Chapter 1 Integrated Motion on the EtherNet/IP Network system inertia. Acceleration control works in concert with the inner torque/current control loop as shown below. A feedback device for the acceleration control configuration is mandatory and may be used to return actual position, velocity, and acceleration data to the controller using the cyclic data connection.
Page 21: No Control Mode
Integrated Motion on the EtherNet/IP Network Chapter 1 No Control Mode The Motion Control Axis Object supports a No Control application mode where there is not dynamic motor control function. This mode is often used to support Feedback Only or Master Feedback functionality where a feedback channel in a CIP Motion Drive device is serving as a master feedback source to the rest of the control system.
Page 22: Motion Instruction Compatibility
Chapter 1 Integrated Motion on the EtherNet/IP Network The Control Method attribute is an 8-bit enumerated code that determines the basic control algorithm. The device applies the algorithm to control the dynamic behavior of the motor that is associated with an axis. The Control Methods related to the Control Modes are listed in the following table.
Page 23 Integrated Motion on the EtherNet/IP Network Chapter 1 divided by type. Use the following key to interpret the column entries: Symbol Meaning Control mode is compatible. MSO and MDS execution initiate mutually exclusive modes of operation and execution is conditional on mode.
Page 24 Chapter 1 Integrated Motion on the EtherNet/IP Network Category Motion Instruction Name Abbr. Feedback Freq.Cntrl Pos. Vel. Loop Vel. Loop Torque Only No Feedback Loop Feedback No Feedback Loop Motion Coordinated Circular Move MCCM Motion Coordinated Stop Motion Coordinated Shutdown MCSD Motion Coordinated Shutdown Reset MCSR...
Page 25: Acceleration Control Behavior
Chapter 2 Behavior models used in CIP Motion Control systems and algorithms are used to discuss the CIP motion attributes. Conceptual diagrams and feature descriptions are provided to help orient you to the various components of CIP motion. Behavior models Acceleration Control Behavior page 25 Motor Attributes Model...
Page 26: Acceleration Limiter
Chapter 2 Behavior models used in CIP Motion The following diagram provides an overview of the Acceleration Control behavior model, including the Load Observer. See also Acceleration Limiter page 26 Load Observer page 27 Acceleration Limiter The output of the acceleration command summing junction signal passes through a limiter to produce the Acceleration Reference signal.
Page 27: Load Observer
Behavior models used in CIP Motion Chapter 2 Load Observer Acceleration Control can optionally include a Load Observer. Feeding the Acceleration Reference into a Load Observer, along with the velocity feedback signal, has been found to be effective in compensating for mechanical backlash, mechanical compliance, and various load disturbances.
Page 28: Command Generation Behavior
Chapter 2 Behavior models used in CIP Motion loop. Scaling the Load Observer Acceleration Estimate signal by the System Inertia results in the Load Observer Torque Estimate signal. This signal represents an estimate of motor torque. Load Observer Configuration The Load Observer can be configured in a variety of ways using the Load Observer Configuration attribute.
Page 29: Command Data Sources
Behavior models used in CIP Motion Chapter 2 The following diagram illustrates the interaction command generation behavior: See also Command Data Sources page 29 Command Fine Interpolation page 30 Command Ramp Generator page 33 Feedforward Signal Selection page 34 Command Notch Filter page 35 Command Data Sources Command data that impacts axis motion can come from a variety of sources.
Page 30: Command Fine Interpolation
Chapter 2 Behavior models used in CIP Motion command reference signals to the device's control structure at the device's update rate. Another source of command data is a local Motion Planner resident within the device. The Motion Device Axis Object defines a rich set of features associated with a device based Motion Planner.
Page 31 Behavior models used in CIP Motion Chapter 2 The following table provide a reference to the polynomial equations: Interpolator name Equation Position Fine Interpolation Polynomial P(t) = a * (t-t ) + a * (t- t * (t-t Velocity Fine Interpolation Polynomial V(t) = b * (t-t ) + b...
Page 32 Chapter 2 Behavior models used in CIP Motion Alternatively, the values for t, t , and t can be based on local time rather than system time by using the current System Time Offset to convert between System Time to local time. This may be more convenient for the interpolator implementation and is left to the device vendor's discretion.
Page 33: Command Ramp Generator
Behavior models used in CIP Motion Chapter 2 When the update period of the Motion Planner is short enough relative to the dynamics of the command trajectory, or is comparable to the device control calculation period, fine interpolation may not be necessary. The Motion Planner can make this determination by comparing the planner update period to that of the device control calculation period.
Page 34: Feedforward Signal Selection
Chapter 2 Behavior models used in CIP Motion While a Ramp Generator function could be included in each of the Fine Command Generator position, velocity, and acceleration commands, this version includes a Ramp Generator only within the Velocity Fine Command Generator. When operating in Frequency Control mode, the Ramp Generator function is integrated into the Frequency Control system.
Page 35: Command Notch Filter
Behavior models used in CIP Motion Chapter 2 The Fine command position is applied directly to the Position Control loop without any of the typical de-referencing and offsets. It is assumed that these operations are performed by the controller or device based Motion Planner. Feedforward signals are only applicable for Closed Loop Position and Closed Loop Velocity Control Modes.
Page 36: Current Vector Limiter
Chapter 2 Behavior models used in CIP Motion The following diagrams show an overview of this behavior model. See also Current Vector Limiter page 36 Voltage Output page 37 Current Feedback page 37 Motor Commutation page 38 Current Vector Limiter The Iq Current Command passes through a Current Vector Limiter before becoming the Iq Current Reference signal.
Page 37: Voltage Output
Behavior models used in CIP Motion Chapter 2 Thermal Limits for the Motor and Drive Inverter. Another possible limit source is the user-configurable Current Vector Limit attribute. Some of these limits are conditional and dynamic, such as the Motor and Inverter Thermal Current Limits derived from the thermal models for these devices.
Page 38: Motor Commutation
Chapter 2 Behavior models used in CIP Motion Motor Commutation Motor commutation is critical to closed loop motor control. The orientation of the motor rotor can be determined from a feedback source mounted to the motor. The actual commutation source is the motor feedback device assigned to Feedback 1 or, possibly, the redundant feedback channel assigned to Feedback 1.
Page 39: Event Input Sources
Behavior models used in CIP Motion Chapter 2 The following diagram provides an overview of the event capture behavior model. See also Event Input Sources page 39 Event Latches page 40 Event Time Stamps page 40 Event Input Sources The Motion Device Axis Object defines a mechanism to capture both the feedback position and time stamp associated with specific state transitions of Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 40: Event Latches
Chapter 2 Behavior models used in CIP Motion selected event input sources. Event input sources currently supported by the object are: • Registration 1 • Registration 2 • Marker • Home Switch. These event input sources apply to each supported feedback channel. See also Event Capture Behavior page 38...
Page 41: Fault And Alarm Behavior
Behavior models used in CIP Motion Chapter 2 particularly useful in applications where it is necessary to determine the location of several axes at the time of a single registration event. The more accurate the time stamp, the more accurately the controller can determine these positions. See also Event Capture Behavior page 38...
Page 42: Rockwell Automation Publication Motion-Rm003I-En-P - February
Chapter 2 Behavior models used in CIP Motion Exception Actions For each exception, the motion axis can be programmed for a variety of actions using the Exception Action attribute. Exception Actions range from generating a major fault that results in the stopping of the motion axis all the way to taking no action at all.
Page 43: Absolute Position Recovery
Behavior models used in CIP Motion Chapter 2 See also Motion Control Axis Behavior Model page 51 State Behavior page 61 Fault and Alarm Behavior page 41 Absolute Position Recovery Absolute Position Recovery (APR) provides support for establishing and maintaining absolute position referenced to a specific machine, commonly called the machine referenced absolute position or just absolute position.
Page 44: Absolute Position Loss Without Apr Faults
• On a Control Logix 5570 controller without an ESM Tip: The APR can potentially be restored from a Secure Digital Card on a ControlLogix 5570 Controller (if a 1756-ESM is not present). • A download of an axis that does not have its home bit set.
Page 45: Apr Fault Generation
Behavior models used in CIP Motion Chapter 2 Attribute Changes A Motion Resolution or an Axis Feedback Polarity attribute has been changed and downloaded to the controller. This can also happen during the execution of an SSV. Axis Feedback Changes The feedback device has been replaced.
Page 46 Chapter 2 Behavior models used in CIP Motion • Change in any of the axis attributes which impacts the absolute machine position. When an APR fault occurs, the actual position of the axis is set to the feedback reference position of the axis. The values are read from the absolute encoder. This clears the axis homed status bit.
Page 47: Apr Fault Examples
Behavior models used in CIP Motion Chapter 2 • Travel Mode Care must be taken when changing these values that the new values are rightly related to the Position Unit of the product and the mechanics of the system. This is typically done as part of a product recipe change.
Page 48: Apr Recovery Scenarios
Chapter 2 Behavior models used in CIP Motion Online Scaling Any change or SSV message that results in a motion resolution change will generate an APR fault. See also Resetting APR Faults page 50 Absolute Position Loss without APR Faults page 44 APR Recovery Scenarios page 48...
Page 49 Behavior models used in CIP Motion Chapter 2 Scenario Event Machine Reference Retained Change Controller Change Controller without a CompactFlash Card Controller Power Cycle without Battery Controller Removal/Insertion Under Power (RIUP) without Battery Take the controllers out of two systems with a battery or energy storage module and swap controller.
Page 50: Reset An Apr Fault
No for the new or another project pasted axis Export and then import into the same or another project. The term Battery in this table assumes a ControlLogix 5570 Controller and a 1756-ESMxxx Energy Storage Module. ControlLogix 5570 Controller See also APR Fault Examples...
Page 51: Motion Control Axis Behavior Model
Behavior models used in CIP Motion Chapter 2 Executing a MCSR • From the Controller Organizer: Clear the group fault, the Logix Designer application executes an MGSR Clear the axis fault, the application executes an MASR • Downloading the same project a second time See also APR Fault Examples page 47...
Page 52: Active Control Axis Behavior Model
Chapter 2 Behavior models used in CIP Motion 4. Start Inhibited 5. Stopped See also State Behavior page 61 Fault and Alarm Behavior page 41 Exceptions page 41 Active Control Axis Behavior The current state of the Motion Control Axis Object instance is indicated by the CIP Axis State attribute.
Page 53 Behavior models used in CIP Motion Chapter 2 Tip: * Specific Standby State after a Fault Reset is determined by applying the Fault Reset State Transition Precedence Rules. ** When an axis is in the Stopped or Major Faulted states with Holding torque (as a result of a Category 2 Stop), a Start Inhibit condition, Disable Request, or Shutdown Request is used to execute the configured Stopping Action.
Page 54: Feedback Only Axis Behavior Model
Chapter 2 Behavior models used in CIP Motion Current State Event Conditions Next State Starting Disable Stopping Starting Start Complete In Process = 0 Running Starting Start Complete In Process = 1 Testing Stopping Stop Complete Shutdown = 0 Stopped Stopping Stop Complete Shutdown = 1...
Page 55 Behavior models used in CIP Motion Chapter 2 Tip: *Specific Standby state after a fault reset is determined by applying Fault Reset State Transition Precedence rules. Valid transitions for the Axis State Model of a Feedback Only axis or CIP Motion Encoder are defined in the following table: Current State Event...
Page 56: Cip Motion Converter Axis Behavior Model
Chapter 2 Behavior models used in CIP Motion Exceptions page 41 CIP Axis Status Attributes page 236 CIP Motion Converter Axis When the Motion Device Axis Object is associated with a CIP Motion Converter, the Active Control state diagram reduces to the following diagram. Behavior Model Shaded regions show mapping of Axis States to corresponding Identity Object states.
Page 57: Motor Attributes Model
Behavior models used in CIP Motion Chapter 2 Current State Event Conditions Next State Running Shutdown Shutdown Running Major Fault Major Faulted Any State Connection Close Initializing Any State Connection Loss Major Faulted See also State Behavior page 61 Fault and Alarm Behavior page 41 Exceptions page 41...
Page 58: Position Control Behavior
Chapter 2 Behavior models used in CIP Motion See also General Motor Attributes page 389 General Permanent Magnet Motor Attributes page 396 General Rotary Motor Attributes page 399 General Linear Motor Attributes page 388 Induction Motor Attributes page 401 Linear PM Motor Attributes page 404 Load Transmission and Actuator Attributes page 409...
Page 59: Position Feedback Selection
Behavior models used in CIP Motion Chapter 2 The following diagram provides an overview of the closed loop position control behavior model. See also Position Feedback Selection page 59 Position PI Gains page 60 Velocity Feedforward page 60 Position Loop Output Filters page 61 Position Feedback Selection Feedback to the PI regulator can be derived from two different feedback channels.
Page 60: Position Pi Gains
Chapter 2 Behavior models used in CIP Motion units prior to applying the output to the velocity loop summing junction. This is done by scaling the position loop output using the Feedback Unit Ratio. See also Position Control Behavior page 58 Position PI Gains The Proportional Gain of the classic proportional-integral (PI) controller sets the unity gain bandwidth of the position loop in radians/second, while the Integral...
Page 61: Position Loop Output Filters
Behavior models used in CIP Motion Chapter 2 reason feedforward is not recommended for point-to-point positioning applications. See also Position Control Behavior page 58 Position Loop Output Filters page 61 Position Loop Output Filters A lead-lag filter is provided at the output of the position loop forward path. This filter can be used in the lead configuration to boost position loop bandwidth and increase the stiffness, for example, the ability to resist dynamic load disturbances.
Page 62 Chapter 2 Behavior models used in CIP Motion Self Test State When power is applied to the controller, the controller typically goes through a series of self-test diagnostics. These tests include checking whether the CIP Motion axis is associated with an actual CIP Motion device and that the axis is also properly included in a collection of axes called a Motion Group.
Page 63 Behavior models used in CIP Motion Chapter 2 During the Initializing state, the device waits for the CIP Motion connections to the device to be established by the controller using a Forward Open service. Once the Forward Open service is successfully processed, the device initializes all attributes to their factory default values, resets all active faults, resets applicable axis status conditions including the shutdown bit, in preparation for device attribute configuration.
Page 64 Chapter 2 Behavior models used in CIP Motion Major Faulted state. In either case the device will wait for the CIP Motion connections to the device to be re-established by the controller using a Forward Open service. Once re-established the controller's CIP Axis State will transition through the various Initialization sub-states.
Page 65 Behavior models used in CIP Motion Chapter 2 conditions are met, the axis state transitions to either the Running state or the Testing state. Running State The Running state is where the work gets done. In this state, the device's power structure is active (Power Structure Enabled status bit set) and the selected Control Mode is enabled and actively tracking command data from the controller based or device based motion planner output to impact axis motion (Tracking...
Page 66 Chapter 2 Behavior models used in CIP Motion one or more specific conditions, such as when the associated feedback device is not fully configured for operation. Again, once corrected, the axis state automatically transitions to the Running state. The Start Inhibited State is classified as an Identity Object Standby state and, therefore, requires that the associated power structure, if applicable, is disabled.
Page 67 Behavior models used in CIP Motion Chapter 2 Aborting state, the power structure remains active (Power Structure Enabled status bit set) as long as the stopping action takes to complete. In some cases, the power structure must be immediately disabled so the axis may coast to a stop while in the Aborting state.
Page 68 Chapter 2 Behavior models used in CIP Motion controller is responsible for rolling up all the conditions of the system into the Axis State that is presented to you. Since faults are latched conditions, a Fault Reset is required to clear the faults and, assuming the original fault condition has been removed, the axis transitions to the Axis State of motion device.
Page 69 Behavior models used in CIP Motion Chapter 2 Fault Source These faults are related to the motion group object function and affect all axes Group Faults associated with the motion group. These faults can occur at any time during device operation.
Page 70 Chapter 2 Behavior models used in CIP Motion The Shutdown State is classified as an Identity Object Standby state and, therefore, requires that the associated power structure, if applicable, is disabled. No Device State If the CIP Motion axis instance in the controller is created, but not currently associated with a CIP Motion device, the axis state indicates the No Device state.
Page 71: Torque Control Behavior
Behavior models used in CIP Motion Chapter 2 device has been successfully synchronized as indicated by a successful Group_Sync service response from the device, or a time limit (~60 seconds) is reached, in which case the controller closes the connection and starts the Initialization process over again.
Page 72: Torque Input Sources
Chapter 2 Behavior models used in CIP Motion The following diagram provides an overview of the torque control behavior model: See also Torque Input Sources page 72 Inertia Compensation page 73 Friction Compensation page 75 Torque Filters page 77 Torque Limiter page 78 Torque Input Sources The Torque Control model can take input from a variety of sources depending on...
Page 73: Inertia Compensation
Behavior models used in CIP Motion Chapter 2 includes the motor and the load and has the effect of canceling the effects the system inertia/mass has on control loop response and loop gain settings. Because the torque units are expressed as % of Rated Torque of the motor, the units for the System Inertia attribute are % Rated per Motor Units/Sec The acceleration units can be expressed in Feedback 1 or Feedback 2 Units based on the Feedback Mode setting.
Page 74 Chapter 2 Behavior models used in CIP Motion If the Velocity Control loop is tuned for peak performance with the load applied, the axis will be, at best, under-damped and, at worst, unstable in the condition where the gear teeth are not engaged. In the worst case scenario, the motor axis and the input gear oscillates wildly between the limits imposed by the output gear teeth.
Page 75: Friction Compensation
Behavior models used in CIP Motion Chapter 2 Inertia Observer The Inertia Observer, when enabled, monitors the acceleration of the axis in relationship to the torque producing current command, Iq Current Reference, and estimates the total motor inertia. The Total Inertia Estimate for the Inertia Observer is fed back to the Kj gain to provide automatic gain control (AGC) with respect to load inertia.
Page 76 Chapter 2 Behavior models used in CIP Motion describing a rapid back and forth motion of the axis centered on the commanded position as it overcompensates for the sticktion. To address the issue of dither when applying Static Friction Compensation, a Friction Compensation Window is applied around the current command position when the axis is at rest.
Page 77: Torque Filters
Behavior models used in CIP Motion Chapter 2 Torque filters The following filters can be applied to provide additional compensation and control to the torque value. Lead-Lag Filter A lead-lag filter is provided in the torque reference path. This filter can be used in the lead configuration to boost velocity or acceleration loop bandwidth, or in the lag configuration to compensate the high frequency gain boost associated with compliant load mechanics.
Page 78: Torque Limiter
Chapter 2 Behavior models used in CIP Motion A typical equation for the notch filter is as follows: In this equation, Q represents the sharpness of the notch. In most implementations, the sharpness, Q, is typically hard-coded in the device. The attenuation depth of the notch filter is infinite.
Page 79: Velocity Control Behavior
Behavior models used in CIP Motion Chapter 2 Cogging Compensation For PM motors, one of the more troublesome Kt variations to contend with is a position dependent variation to Kt known as motor cogging. The Kt scaling factor can be used to compensate for motor cogging by performing a test on the motor that generates a Kt versus Electrical Angle Cogging Compensation table.
Page 80: Closed Loop Velocity Control
Chapter 2 Behavior models used in CIP Motion Open Loop Frequency Control model Associated with drives that do not have a current control loop and typically drive an induction motor, also known as Volts/Hertz or Variable Frequency Drives (VFDs). The following diagram provides an overview of this method. See also Closed Loop Velocity Control page 80...
Page 81 Behavior models used in CIP Motion Chapter 2 be used in conjunction with an outer control loop to make minor adjustments to the velocity of the motor. When serving as an inner velocity loop in Position Control Mode, the device applies the Position Loop Output signal to the input of the velocity command summing junction.
Page 82 Chapter 2 Behavior models used in CIP Motion condition is reached in the forward path. The anti-windup feature is conditioned by the arithmetic sign of the integrator's input. The integrator is held when the input's sign is such that the integrator output moves further into the active limit. In other words, the integrator is allowed to operate (not held) when the input would tend to bring the integrator output value off the active limit.
Page 83: Open Loop Frequency Control
Behavior models used in CIP Motion Chapter 2 Because many closed loop motion control applications require near zero control loop error, this behavior is not desirable. Again, the position and velocity loop error could be reduced by applying the velocity integral gain control as described above, but the integrator action is still too slow to be very effective.
Page 84 Chapter 2 Behavior models used in CIP Motion Basic Volts/Hertz Operation There are a number of attributes that are used to specify the relationship the drive device uses between output frequency (speed) and output voltage for a given (induction) motor. The Break Frequency and Break Voltage attributes define the point on the Volts/Hertz curve below which the Start Boost feature is applied.
Page 85 Behavior models used in CIP Motion Chapter 2 proportion to the droop gain. This is helpful when some level of compliance is required when performing torque sharing between two motors on a common load. See also Velocity Control Behavior page 79 Torque Control Behavior page 71 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 87: Interpret The Attribute Tables
Chapter 3 Interpret the Attribute Tables Each attribute table begins with the attribute name as a heading. The tag, GSV/SSV, and MSG names for each of these attributes are the same as the attribute name listed, but with the spaces removed. For example, Inhibit Axis would be InhibitAxis.
Page 88 Chapter 3 Interpret the Attribute Tables Column Heading Description The following identifiers are used for Device Function Codes: • Required - All = All Control Modes • Optional - All = All Control Modes If applicable only to specific implementations, the following codes will be used to denote when they apply: •...
Page 89: Chapter 3
Interpret the Attribute Tables Chapter 3 Column Heading Description The following identifiers are used for Access Rules: • Get = Get Attribute List service GSV = Can be read using the GSV Get System Variable instruction. Get/SSV = Indicates the attribute can only be set programmatically and cannot be set by configuration software.
Page 90: Attribute Units
Chapter 3 Interpret the Attribute Tables Column Heading Description Semantics of Values The meaning of the attribute values. For example: Position Units / Sec. Tag access is supported by value is valid only when Auto Tag Update of the Motion Group Object is enabled.
Page 91: Device Function Codes
Interpret the Attribute Tables Chapter 3 Attribute Unit Applicable Units Semantics of Values Filter Frequency Units Hertz Fundamental control unit for distance. Counts For example, feedback counts or planner counts. See also CIP Data Types page 91 CIP Axis Attributes page 185 CIP Data Types This table provides descriptions of the CIP Data Types related to the CIP Motion...
Page 92 Chapter 3 Interpret the Attribute Tables Device Function Code Control Mode Control Method Bus Power Converters No Control Mode No Control Method Encoder, Feedback Only No Control Mode No Control Method Position Loop Position Control Mode Closed Loop Vector Control Method Velocity Loop Velocity Control Mode Closed Loop Vector Control Method...
Page 93: Required Vs. Optional Axis Attributes
Interpret the Attribute Tables Chapter 3 Required vs. Optional Axis In the attribute tables, attributes and services are defined as Required (R) or Optional (O). Required attributes and services must be supported in the Attributes implementation of the object. Optional attributes and services may or may not be supported in the implementation and are left to the discretion of the device manufacturer.
Page 94 Chapter 3 Interpret the Attribute Tables motors. The attribute is not applicable for a Feedback Only device or a drive that does not support a PM motor. Attribute ID Access Attribute P V T Conditional Rule Implementation PM Motor 1327 PM Motor Only Resistance To get details about how to specify the attribute, refer to the attributes list for the...
Page 95: Identify Motion Axis Attributes Based On Device Function Codes
Interpret the Attribute Tables Chapter 3 Description Add-on Profile. Logix Designer component that can be separately installed and used for configuring one or more modules. Derived Implementation rules follow another attribute Drive Scaling Drive device supports drive scaling functionality Hiperface DSL (feedback type) EnDat 2.1 (feedback type) EnDat 2.2 (feedback type) Encoder-based control, a feedback device is present...
Page 96 Chapter 3 Interpret the Attribute Tables • B – Bus Power Converters (No Control Mode, No Control Method) • E – Encoder, Feedback Only (No Control Mode, No Control Method) • P – Position Loop (Position Control Mode, Closed Loop Vector Control Method) •...
Page 97 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation 1375 Actuator Lead Unit (R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling; (O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling 1373 Actuator Type (R) Controller only attribute,...
Page 98 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation Axis State Axis Status Bits Axis Update Schedule Backlash Compensation Window Backlash Reversal Offset Brake Prove Ramp Time E, V26 Brake Slip Tolerance E, V26 Brake Test Torque E, V26 Break Frequency Basic V/Hz only...
Page 99 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation CIP Axis Status CIP Axis Status - RA CIP Controller Get Attr Update Bits CIP Controller Set Attr Update Bits CIP Drive Get Attr Update Bits CIP Drive Set Attr Update Bits CIP Initialization Faults CIP Initialization Faults- RA...
Page 100 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation DC Injection Brake Current DC Injection Brake Time Deceleration Limit Digital Inputs Digital Outputs Set* Direct Command Velocity Drive Model Time Constant Drive Model Time Constant Base Drive Rated Peak Current Dynamics Configuration Bits 1435...
Page 101 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation 1466 Feedback 2 Cycle Resolution E; Not Linear Displacement Transducer (feedback type) 1471 Feedback 2 Data Code E; Digital Parallel (feedback type),SSI (feedback type) E; Digital Parallel (feedback 1470 Feedback 2 Data Length type),SSI (feedback type)
Page 102 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation Friction Compensation Static Friction Compensation Viscous 826/421 Friction Compensation Window Gain Tuning Configuration Bits Group Instance 981/243 Guard Faults 980/242 Guard Status 1170 Home Acceleration Home Configuration Bits 1171 Home Deceleration Home Direction...
Page 103 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation Interpolated Actual Position Interpolated Command Position Interpolated Position Configuration Interpolation Time Inverter Capacity Inverter Overload Action Optional Enumeration Inverter Thermal Overload User Limit 1338 Linear Motor Damping Coefficient Linear Motor only 2313 Linear Motor Integral Limit Switch...
Page 104 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation Mechanical Brake Control Mechanical Brake Engage Delay Mechanical Brake Release Delay Memory Usage Memory Use Module Alarm Bits Module Channel Module Class Code Module Fault Bits Motion Alarm Bits Motion Exception Action Motion Fault Bits...
Page 105 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation 1322 Motor Overload Limit Motor Overspeed User Limit Motor Phase Loss Limit 1317 Motor Polarity 1319 Motor Rated Continuous Current 1321 Motor Rated Output Power O-PM; R-IM 1320 Motor Rated Peak Current R-PM;...
Page 106 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation 1355 PM Motor Extended Speed Permissive PM Motor only;V29 2310 PM Motor Flux Saturation SPM Motor only 1343 PM Motor Force Constant Linear PM Motor only 1328 PM Motor Inductance SPM Motor only...
Page 107 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation Position Unwind Controller only attribute, Motion Scaling Configuration set to Controller Scaling; Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling; E Position Unwind Denominator Position Unwind Numerator Power Loss Action Optional Enumeration...
Page 108 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation Run Boost BasicV/Hz and Fan/Pump V/Hz only Safe Stopping Action Safe Stopping Action Source Safe Torque Off Action V26; Optional Enumeration Safe Torque Off Action Source Scaling Source Shutdown Action Optional Enumeration...
Page 109 Interpret the Attribute Tables Chapter 3 Attr. ID Access Attribute Name Conditional Rule Implementation Torque Low Pass Filter Bandwidth Estimate - Torque Notch Filter Frequency Torque Notch Filter Frequency Estimate Torque Notch Filter High Frequency Limit Torque Notch Filter Low Frequency Limit Torque Notch Filter Magnitude Estimate Torque Notch Filter Tuning Threshold Torque Offset...
Page 110 Chapter 3 Interpret the Attribute Tables Attr. ID Access Attribute Name Conditional Rule Implementation Tuning Direction Tuning Select Tuning Speed Tuning Torque Tuning Travel Limit Undertorque Limit Undertorque Limit Time 464/321 Velocity Droop 455/135 Velocity Error Velocity Error Tolerance Velocity Error Tolerance Time 454/134 Velocity Feedback Velocity Feedforward Command...
Page 111: Attribute Conversion From Sercos To Integrated Motion On The Ethernet/Ip Network
22 Attribute Conversion from The following table illustrates the methods used to convert a L5K file from a Logix Designer project that uses an existing Allen-Bradley® SERCOS drive to a SERCOS to Integrated comparable CIP Motion compliant drive. Motion on the Ethernet/IP...
Page 112 Chapter 3 Interpret the Attribute Tables SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method VelocityFeedforwardGain VelocityFeedforwardGain Direct AccelerationFeedforwardGain AccelerationFeedforwardGain Direct PositionProportionalGain 528.1571 PositionLoopBandwidth 1/2p PositionIntegralGain PositionIntegratorBandwidth 1/2p * 1000/Kpp VelocityProportionalGain 1352.0822 VelocityLoopBandwidth 1/2p VelocityIntegralGain PositionIntegratorBandwidth 1/2p * 1000/Kpv TorqueScaling 0.01749257 SystemInertia...
Page 113 Interpret the Attribute Tables Chapter 3 SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method VelocityDataScalingExp AccelerationDataScaling AccelerationDataScalingFactor AccelerationDataScalingExp TorqueDataScaling TorqueDataScalingFactor TorqueDataScalingExp DrivePolarity Positive MotionPolarity Enum Mapping MotorFeedbackType "SRM" Feedback1Type Enum Mapping MotorFeedbackResolution 1024 Feedback1CycleResolution Direct AuxFeedbackType "<NA>" Feedback2Type Enum Mapping AuxFeedbackResolution...
Page 114: Drive Supported Optional Attributes
Chapter 3 Interpret the Attribute Tables SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method MotorCatalogNumber "MPL-A310P-M" MotorCatalogNumber Direct AuxFeedbackRatio FeedbackUnitRatio ContinuousTorqueLimit MotorOverloadLimit Direct ResistiveBrakeContactDelay ResistiveBrakeContactDelay Direct MaximumAccelerationJerk 2776994.8 MaximumAccelerationJerk Direct MaximumDecelerationJerk 2776994.8 MaximumDecelerationJerk Direct DynamicsConfigurationBits DynamicsConfigurationBits Direct PhaseLossFaultAction Shutdown CIPAxisExceptionAction...
Page 115 Interpret the Attribute Tables Chapter 3 Description Encoder, Feedback Only (No Control Mode, No Control Method) Position Loop (Position Control Mode, Closed Loop Vector Control Method) Velocity Loop (Velocity Control Mode, Close Loop Vector Control Method) Torque Loop (Torque Control Mode, Closed Loop Vector Control Method) Frequency Control (Velocity Control Mode, Frequency Control Method) Controller/Device Replicated Attribute Special device specific semantics needed from AOP...
Page 116: Kinetix 350 Drive Module Optional Attributes
Chapter 3 Interpret the Attribute Tables Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network page 111 MSG Instruction Access Only Attributes page 181 Kinetix 350 Drive Module A Kinetix 350 drive module supports the following optional attributes and corresponding control mode functionalities: Optional Attributes Access...
Page 117 Interpret the Attribute Tables Chapter 3 Access Attribute Name Conditional Implementation Rule Commutation Polarity PM Motor only Commutation Self-Sensing Current PM Motor only O-Value = # Converter Capacity Current Disturbance Current Error Current Feedback Current Limit Source Current Reference Current Vector Limit DC Injection Brake Current Ind Motor only DC Injection Brake Time...
Page 118 Chapter 3 Interpret the Attribute Tables Access Attribute Name Conditional Implementation Rule 1475 Feedback 2 Resolver Cable Balance 1474 Feedback 2 Resolver Excitation Frequency 1473 Feedback 2 Resolver Excitation Voltage 1472 Feedback 2 Resolver Transformer Ratio 1451 Feedback 2 Serial Number 1465 Feedback 2 Startup Method O-Enum...
Page 119 Interpret the Attribute Tables Chapter 3 Access Attribute Name Conditional Implementation Rule 1349 Induction Motor Magnetization Reactance Ind Motor only 1352 Induction Motor Rated Slip Speed Ind Motor only 1350 Induction Motor Rotor Resistance Ind Motor only Inverter Overload Action O-Enum 1 = Current Foldback (Y) 128 = Reduce PWM Rate (N) 129 = PWM Foldback (N)
Page 120 Chapter 3 Interpret the Attribute Tables Access Attribute Name Conditional Implementation Rule 1320 Motor Rated Peak Current O-IM Motor Thermal Overload User Limit 1315 Motor Type O-Enum 1 = Rotary Permanent Magnet (Y) 2 = Rotary Induction (N) 3 = Linear Permanent Magnet (N) 4 = Linear Induction (N) 1325 Motor Winding to Ambient Capacitance...
Page 121 Interpret the Attribute Tables Chapter 3 Access Attribute Name Conditional Implementation Rule Shutdown Action O-Enum 1 = Drop DC Bus (N) Skip Speed 1 Skip Speed 2 Skip Speed 3 Skip Speed Band SLAT Configuration SLAT Set Point SLAT Time Delay Stopping Action O-Enum 2 = Ramped Decel Disable (FPV/N)
Page 122: Kinetix 5500 Hardwired Sto Drive Module Optional Attributes
Chapter 3 Interpret the Attribute Tables Kinetix 5500 Hardwired STO The hardwired Kinetix 5500 drive modules include the following catalog numbers: Drive Module Optional Attributes • 2198-H003-ERS, Kinetix 5500, 1A, 195-528 Volt, Safe Torque Off Drive • 2198-H008-ERS, Kinetix 5500, 2.5A, 195-528 Volt, Safe Torque Off Drive •...
Page 123 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Axis Features O-Bits 0 = Fine Interpolation (Y) 1 = Registration Auto-rearm (Y) 2 = Alarm Log (Y) 5 = Hookup Test (Y) 6 = Commutation Test (Y) 7 = Motor Test (Y) 8 = Inertia Test (Y) 9 = Sensorless Control (N) 10 = Drive Scaling (N) Vxx...
Page 124 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 2331 Converter Output Power 1 2351 Converter Output Power 2 2332 Converter Output Rated Current 1 2352 Converter Output Rated Current 2 2333 Converter Output Rated Power 1 2353 Converter Output Rated Power 2 Current Disturbance Current Error...
Page 125 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule 2454 Feedback 2 Accel Filter Taps 2455 Feedback 2 Battery Absolute 1471 Feedback 2 Data Code TP,SS 1470 Feedback 2 Data Length TP,SS 2450 Feedback 2 Loss Action O-Enum 1 = Switch to Sensorless Fdbk (N) 2 = Switch to Redundant Fdbk (N) 1464...
Page 126 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule Frequency Control Method O-Enum 128 = Fan/Pump Volts/Hertz (Y) 129 = Sensorless Vector (Y) 130 = Sensorless Vector Economy (N) Friction Compensation Sliding Friction Compensation Static Friction Compensation Viscous 826/421 Friction Compensation Window 981/243...
Page 127 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule 1310/251 Motor Catalog Number Dr NV 1313 Motor Data Source O-Enum 1 = Database (Y) 2 = Drive NV (N) 3 = Motor NV (Y) 1323 Motor Integral Thermal Switch 1324 Motor Max Winding Temperature Motor Overload Action...
Page 128 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule Position Error Tolerance Time Position Fine Command Position Integrator Control O-Bit 1: Auto-Preset (N) Position Integrator Preload Position Lead Lag Filter Bandwidth Position Lead Lag Filter Gain Position Notch Filter Frequency Power Loss Action O-Enum 2 = Decel Regen (N)
Page 129 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Stopping Time Limit F Support in V29 System Inertia Torque Integral Time Constant Torque Lead Lag Filter Bandwidth Torque Lead Lag Filter Gain Torque Loop Bandwidth Torque Low Pass Filter Bandwidth Torque Low Pass Filter Bandwidth V26/V27 Estimate...
Page 130: Kinetix 5500 Integrated Sto Drive Module Optional Attributes
Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule Zero Speed Time V26/V27 Kinetix 5500 Integrated STO The integrated Kinetix 5500 drive modules include the following catalog numbers: Drive Module Optional Attributes • 2198-H003-ERS2, Kinetix 5500, 1A, 195-528 Volt, CIP Safe Torque Off Drive •...
Page 131 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Auto Sag Slip Increment V26/V27 Auto Sag Time Limit V26/V27 Auto Sag Start V26/V27 Axis Configuration O-Enum 0 = Feedback Only (Y) 1 = Frequency Control (Y) 2 = Position Loop (Y) 3 = Velocity Loop (Y) 4 = Torque Loop (Y) Axis Features...
Page 132 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule Commutation Polarity PM Motor only Commutation Self-Sensing Current PM Motor only Converter Capacity 2337 Converter Output Capacity 1 2357 Converter Output Capacity 2 Converter Output Current V26/V27 2330 Converter Output Current 1 2350 Converter Output Current 2 Converter Output Power...
Page 133 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule 1424 Feedback 1 Resolver Excitation Frequency 1423 Feedback 1 Resolver Excitation Voltage 1422 Feedback 1 Resolver Transformer Ratio 1401 Feedback 1 Serial Number 1415 Feedback 1 Startup Method O-Enum 1 = Absolute (Y) 1434 Feedback 1 Velocity Filter Bandwidth...
Page 134 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule Flux Current Reference Flux Integral Time Constant Flux Loop Bandwidth Flux Up Control Ind Motor only O-Enum 1 = Manual Delay (Y) 2 = Automatic Delay (Y) Flux Up Time Ind Motor only Flying Start Enable Flying Start Method...
Page 135 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Load Observer Configuration O-Enum 1 = Load Observer Only (Y) 2 = Load Observer with Velocity Estimate (Y) 3 = Velocity Estimate Only (Y) 4 = Acceleration Feedback (N) Load Observer Feedback Gain Load Observer Integrator Bandwidth Load Observer Torque Estimate...
Page 136 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 1315 Motor Type O-Enum 1 = Rotary Permanent Magnet (Y) 2 = Rotary Induction (Y) 3 = Linear Permanent Magnet (N) 4 = Linear Induction (N) 1325 Motor Winding to Ambient Capacitance 1326 Motor Winding to Ambient Resistance Operative Current Limit...
Page 137 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule 1333 Rotary Motor Damping Coefficient Rotary Motor only 2312 Rotary Motor Fan Cooling Derating Rotary Motor only 2311 Rotary Motor Fan Cooling Speed Rotary Motor only 1330 Rotary Motor Inertia Rotary Motor only 1332 Rotary Motor Max Speed...
Page 138: Kinetix 5700 Safety Drive Module Optional Attributes
Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 507/334 Torque Threshold 1371 Transmission Ratio Input DScale 1372 Transmission Ratio Output DScale Undertorque Limit Undertorque Limit Time 464/321 Velocity Droop Velocity Error Tolerance Velocity Error Tolerance Time Velocity Fine Command Velocity Integrator Control O-Bits 1: Auto-Preset (N)
Page 139 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Acceleration Fine Command Acceleration Limit Acceleration Reference Acceleration Trim Adaptive Tuning Configuration V26/V27 Adaptive Tuning Gain Scaling Factor - V26/V27 732/267 Analog Input 1 733/268 Analog Input 2 Analog Output 1 Analog Output 2 Auto Sag Configuration...
Page 140 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation 2338 Bus Output Overvoltage Factory Limit 1 2358 Bus Output Overvoltage Factory Limit 2 2339 Bus Output Undervoltage Factory Limit 1 2359 Bus Output Undervoltage Factory Limit 2 638/262 Bus Regulator Capacity CIP Axis Alarms...
Page 141 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation 2336 DC Bus Output Voltage Reference 1 2356 DC Bus Output Voltage Reference 2 DC Injection Brake Current DC Injection Brake Time Deceleration Limit Digital Inputs Digital Outputs 1435 Feedback 1 Accel Filter Bandwidth 2404...
Page 142 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation 1451 Feedback 2 Serial Number 1465 Feedback 2 Startup Method O-Enum 1 = Absolute (Y) 1484 Feedback 2 Velocity Filter Bandwidth - 2453 Feedback 2 Velocity Filter Taps Feedback Commutation Aligned O-Enum 2 = Motor Offset (Y)
Page 143 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Home Torque Time Induction Motor Magnetization 1349 Ind Motor only Reactance 1352 Induction Motor Rated Slip Speed Ind Motor only 1351 Induction Motor Rotor Leakage Ind Motor only, V26/V27 Reactance 1350 Induction Motor Rotor Resistance...
Page 144 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation Motor Overload Action O-Enum 1 = Current Foldback (Y) 1322 Motor Overload Limit Motor Overspeed User Limit Motor Phase Loss Limit V26/V27 1317 Motor Polarity 1321 Motor Rated Output Power Y-PM 1320 Motor Rated Peak Current...
Page 145 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Power Loss Threshold Power Loss Time Proving Configuration V26/V27 Set* Ramp Acceleration Derived Set* Ramp Deceleration Derived Ramp Jerk Control Set* Ramp Velocity - Negative Derived Set* Ramp Velocity - Positive Derived 613/354 Resistive Brake Contact Delay...
Page 146 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation System Inertia Torque Integral Time Constant Torque Lead Lag Filter Bandwidth Torque Lead Lag Filter Gain Torque Loop Bandwidth Torque Low Pass Filter Bandwidth Torque Low Pass Filter Bandwidth V26/V27 Estimate Torque Notch Filter Frequency...
Page 147: Kinetix 5700 Advanced Safety Drive Module Optional Attributes
Interpret the Attribute Tables Chapter 3 Kinetix 5700 Advanced Safety The Kinetix 5700 advanced safety drive modules include the following catalog numbers: Drive Module Optional Attributes • 2198-S086-ERS4, 43A, Inverter, Advanced Safety Drive • 2198-S130-ERS4, 65A, Inverter, Advanced Safety Drive •...
Page 148 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation Axis Features O-Bits 0: Fine Interpolation (Y) 1: Registration Auto-rearm (Y) 2: Alarm Log (Y) 5: Hookup Test (Y) 6: Commutation Test (Y) 7: Motor Test (Y) 8: Inertia Test (Y) 9: Sensorless Control (N) 10: Drive Scaling (N) Vxx 11: Ext.
Page 149 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Connection Loss Stopping Action O-Enum V31 1 = Current Decel Disable (F/Y) 2 = Ramped Decel Disable (FV/Y) 3 = Current Decel Hold (PV/N) 4 = Ramped Decel Hold (V/N) Converter Capacity 2337 Converter Output Capacity 1...
Page 150 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation 2400 Feedback 1 Loss Action O-Enum 1 = Switch to Sensorless Fdbk (N) 2 = Switch to Redundant Fdbk (N) 1414 Feedback 1 Polarity 1425 Feedback 1 Resolver Cable Balance Feedback 1 Resolver Excitation 1424 Frequency...
Page 151 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Set* Feedback Configuration O-Enum 0 = No Feedback (V/N)(T/N) 3 = Load Feedback (P/Y)(V/Y)(T/N) 4 = Dual Feedback (P/Y) 8 = Dual Integrator Feedback (P/N) Feedback Data Loss User Limit Feedback Noise User Limit Feedback Signal Loss User Limit Feedback Unit Ratio...
Page 152 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation Inverter Overload Action O-Enum 1 = Current Foldback (Y) 128 = Reduce PWM Rate (N) 129 = PWM Foldback (N) Inverter Thermal Overload User Limit - 1338 Linear Motor Damping Coefficient Linear Motor only 2313 Linear Motor Integral Limit Switch...
Page 153 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation 1325 Motor Winding to Ambient Capacitance 1326 Motor Winding to Ambient Resistance Operative Current Limit F Support in V29 Output Frequency Overtorque Limit Overtorque Limit Time 1355 PM Motor Extended Speed Permissive 2310 PM Motor Flux Saturation...
Page 154 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation 613/354 Resistive Brake Contact Delay PM Motor only 1333 Rotary Motor Damping Coefficient Rotary Motor only 2312 Rotary Motor Fan Cooling Derating Rotary Motor only 2311 Rotary Motor Fan Cooling Speed Rotary Motor only 1330 Rotary Motor Inertia...
Page 155: Kinetix 6500 Drive Module Optional Attributes
Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Torque Notch Filter Frequency Torque Notch Filter Frequency V26/V27 Estimate Torque Notch Filter High Frequency V26/V27 Limit Torque Notch Filter Low Frequency V26/V27 Limit Torque Notch Filter Magnitude V26/V27 Estimate Torque Notch Filter Tuning...
Page 156 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation 1376 Actuator Diameter DScale 1377 Actuator Diameter Unit DScale 1374 Actuator Lead DScale 1375 Actuator Lead Unit DScale 1373 Actuator Type DScale 732/267 Analog Input 1 733/268 Analog Input 2 Analog Output 1 Analog Output 2 Axis Configuration...
Page 157 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Digital Inputs Digital Outputs 1435 Feedback 1 Accel Filter Bandwidth 2404 Feedback 1 Accel Filter Taps 2405 Feedback 1 Battery Absolute 1421 Feedback 1 Data Code TP,SS 1420 Feedback 1 Data Length TP,SS 2400...
Page 158 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation Set* Feedback Configuration O-Enum 0 = No Feedback (V/N) 3 = Load Feedback (PVT/Y) 4 = Dual Feedback (P/Y) 8 = Dual Integrator Feedback (P/N) Feedback Data Loss User Limit Feedback Noise User Limit Feedback Signal Loss User Limit Feedback Unit Ratio...
Page 159 Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Load Observer Bandwidth Load Observer Configuration O-Enum 1 = Load Observer Only (Y) 2 = Load Observer with Velocity Estimate (Y) 3 = Velocity Estimate Only (Y) 4 = Acceleration Feedback (Y) Load Observer Feedback Gain Load Observer Integrator Bandwidth Load Observer Torque Estimate...
Page 160 Chapter 3 Interpret the Attribute Tables Access Rule Attribute Name Conditional Implementation 2310 PM Motor Flux Saturation PM Motor only 1343 PM Motor Force Constant Rotary PM Motor only 1342 PM Motor Rated Force Rotary PM Motor only 1339 PM Motor Rated Torque Rotary PM Motor only 1340 PM Motor Torque Constant...
Page 161: Powerflex 527 Axis Instance Optional Attributes
Interpret the Attribute Tables Chapter 3 Access Rule Attribute Name Conditional Implementation Stopping Action O-Enum 2 = Ramped Decel Disable (FPV/N) 3 = Current Decel Hold (PV/Y) 4 = Ramped Decel Hold (PV/N) 128 = DC Injection Brake (IM/N) 129 = AC Injection Brake (IM/N) Stopping Time Limit System Inertia Torque Integral Time Constant...
Page 162 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule Acceleration Reference Acceleration Trim 1376 Actuator Diameter DScale 1377 Actuator Diameter Unit DScale 1374 Actuator Lead DScale 1375 Actuator Lead Unit DScale 1373 Actuator Type DScale Adaptive Tuning Configuration Adaptive Tuning Gain Scaling Factor 732/267 Analog Input 1...
Page 163 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Converter Capacity Current Disturbance Current Error Current Feedback Current Limit Source Current Reference Current Vector Limit DC Injection Brake Current DC Injection Brake Time Deceleration Limit Digital Inputs Digital Outputs 1435 Feedback 1 Accel Filter Bandwidth 2404...
Page 164 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 1473 Feedback 2 Resolver Excitation Voltage 1472 Feedback 2 Resolver Transformer Ratio 1451 Feedback 2 Serial Number 1465 Feedback 2 Startup Method O-Enum 1= Absolute (N) 1484 Feedback 2 Velocity Filter Bandwidth 2453 Feedback 2 Velocity Filter Taps Feedback Commutation Aligned...
Page 165 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule 1351 Induction Motor Rotor Leakage Reactance Ind Motor only, V24 1350 Induction Motor Rotor Resistance Ind Motor only 1348 Induction Motor Stator Leakage Reactance Ind Motor only, V24 Inverter Overload Action O-Enum 1 = Current Foldback (Y) 128 = Reduce PWM Rate (Y)
Page 166 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 1317 Motor Polarity 1321 Motor Rated Output Power O-IM 1320 Motor Rated Peak Current O-IM Motor Thermal Overload User Limit 1325 Motor Winding to Ambient Capacitance 1326 Motor Winding to Ambient Resistance Operative Current Limit Output Frequency Overtorque Limit...
Page 167 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Skip Speed 1 Skip Speed 2 Skip Speed 3 Skip Speed Band SLAT Configuration SLAT Set Point SLAT Time Delay Stopping Action O-Enum 2 = Ramped Decel Disable (FP/Y) 3 = Current Decel Hold (PV/N) 4 = Ramped Decel Hold (V/N) 128 = DC Injection Brake (FPVT/N)
Page 168: Powerflex 755 Standard Drive Module Optional Attributes
Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 473/325 Velocity Limit - Positive Velocity Lock Tolerance Velocity Low Pass Filter Bandwidth Velocity Negative Feedforward Gain 470/327 Velocity Threshold Zero Speed Zero Speed Time PowerFlex 755 Standard Drive The following table identifies the optional attributes and corresponding control mode functionality supported by a PowerFlex 755 drive module.
Page 169 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Axis Features O-Bits 0 = Fine Interpolation (Y) 1 = Registration Auto-rearm (Y) 2 = Alarm Log (Y) 5 = Hookup Test (Y) 6 = Commutation Test (Y) 7 = Motor Test (Y) 8 = Inertia Test (Y) 9 = Sensorless Control (Y) Axis I/O Status...
Page 170 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation 2400 Feedback 1 Loss Action O-Enum 1= Switch to Sensorless Fdbk (N) 2 = Switch to Redundant Fdbk (N) 1414 Feedback 1 Polarity 1425 Feedback 1 Resolver Cable Balance 1424 Feedback 1 Resolver Excitation Frequency 1423 Feedback 1 Resolver Excitation Voltage...
Page 171 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Flux Braking Enable Ind Motor only Flux Current Error Flux Current Feedback Flux Current Reference Flux Integral Time Constant Flux Loop Bandwidth Flux Up Control Ind Motor only, O-Enum 1 = Manual Delay (Y) 2 = Automatic Delay (Y) Flux Up Time Ind Motor only...
Page 172 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation 1370 Load Type DScale Local Control O-Enum 1 = Conditionally Allowed (N) 2 = Allowed (N) Mechanical Brake Control Mechanical Brake Engage Delay Mechanical Brake Release Delay Motion Scaling Configuration O-Enum 1 = Drive Scaling (N) 1310/251...
Page 173 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Position Integrator Control O-Bits 1 = Auto-Preset (N) Position Integrator Preload Position Lead Lag Filter Bandwidth Position Lead Lag Filter Gain Position Notch Filter Frequency Power Loss Action O-Enum 2 = Decel Regen (Y) Power Loss Threshold Power Loss Time Proving Configuration...
Page 174: Powerflex 755 Safety Drive Module Optional Attributes
Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Torque Low Pass Filter Bandwidth Torque Notch Filter Frequency Torque Rate Limit 507/334 Torque Threshold 1371 Transmission Ratio Input DScale 1372 Transmission Ratio Output DScale Undertorque Limit Undertorque Limit Time 464/321 Velocity Droop Velocity Error Tolerance...
Page 175 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Analog Output 1 Analog Output 2 Auto Sag Configuration Auto Sag Slip Increment Auto Sag Start Axis Configuration O-Enum 0 = Feedback Only (N) 1 = Frequency Control (Y) 2 = Position Loop (Y) 3 = Velocity Loop (Y) 4 = Torque Loop (Y)
Page 176 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule DC Injection Brake Time Ind Motor only Deceleration Limit Digital Inputs Digital Outputs 1435 Feedback 1 Accel Filter Bandwidth 2404 Feedback 1 Accel Filter Taps 2405 Feedback 1 Battery Absolute 1421 Feedback 1 Data Code TP,SS...
Page 177 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule Feedback Commutation Aligned O-Enum 2 = Motor Offset (N) 3 = Self-Sense (Y) Feedback Configuration O-Enum 0 = No Feedback (V/Y)(T/Y) 3 = Load Feedback (PVT/N) 4 = Dual Feedback (P/Y) 8 = Dual Integrator Feedback (P/Y) Feedback Data Loss User Limit Feedback Noise User Limit...
Page 178 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule 1336 Linear Motor Mass Linear Motor only 1337 Linear Motor Max Speed Linear Motor only Load Observer Acceleration Estimate Load Observer Bandwidth Load Observer Configuration O-Enum 1= Load Observer Only (Y) 2 = Load Observer with Velocity Estimate (N) 3 = Velocity Estimate Only (N) 4 = Acceleration Feedback (Y)
Page 179 Interpret the Attribute Tables Chapter 3 Access Attribute Conditional Implementation Rule 1326 Motor Winding to Ambient Resistance Operative Current Limit Output Frequency Overtorque Limit Overtorque Limit Time 2310 PM Motor Flux Saturation PM Motor only 1343 PM Motor Force Constant Rotary PM Motor only 1342 PM Motor Rated Force...
Page 180 Chapter 3 Interpret the Attribute Tables Access Attribute Conditional Implementation Rule SLAT Set Point SLAT Time Delay Stopping Action O-Enum 2 = Ramped Decel Disable (FPV/Y) 3 = Current Decel Hold (PV/N) 4 = Ramped Decel Hold (PV/Y) 128 = DC Injection Brake (IM/Y) 129 = AC Injection Brake (IM/Y) Stopping Time Limit System Inertia...
Page 181: Msg Instruction Access Only Attributes
Interpret the Attribute Tables Chapter 3 MSG Instruction Access Only The following table lists the attributes that are available to a specific drive via messaging. The P### references in the Conditional Implementation column refer Attributes to the related PowerFlex drive parameter. Attribute K350 K5500 K6500 PF755 E...
Page 182: Rockwell Automation Publication Motion-Rm003I-En-P - February
Chapter 3 Interpret the Attribute Tables Converter Rated Output Power MSG Access Only Converter Thermal Overload Factory Limit MSG Access Only Cumulative Control Power Cycles MSG Access Only Cumulative Energy Usage MSG Access Only Cumulative Main Power Cycles MSG Access Only Cumulative Motor Revs MSG Access Only Cumulative Run Time...
Page 183 Interpret the Attribute Tables Chapter 3 2383 Feedback nS Position E, MSG Access Only (n-1)* 2384 Feedback nS Velocity E, MSG Access Only (n-1)* 2382 Feedback nU Acceleration E, MSG Access Only (n-1)* 2380 Feedback nU Position E, MSG Access Only (n-1)* 2381 Feedback nU Velocity...
Page 184 Chapter 3 Interpret the Attribute Tables Position Integral Feedback MSG Access Only, P837 PWM Frequency MSG Access Only Rotary Motor Overspeed Factory Limit MSG Access Only Torque Command MSG Access Only, P761 Torque Decoupling MSG Access Only Torque Voltage Output MSG Access Only Total Inertia Estimate MSG Access Only, P708...
Page 185: Acceleration Control Attributes On
Chapter 4 CIP Axis Attributes The CIP Axis Attributes let you configure motion-control system devices that include feedback devices and drive devices. For drive devices, the CIP Axis Attributes cover a wide range of drive types from simple variable frequency (V/Hz) drives, to sophisticated position-control servo drives.
Page 186: Apr Fault Attributes On
Chapter 4 CIP Axis Attributes Drive Commissioning and Tuning Attributes Autotune Configuration Attributes page 258 Inertia Test Configuration Attributes page 269 Hookup Test Configuration Attributes page 266 Inertia Test Result Attributes page 272 Hookup Test Result Attributes page 267 Motor Test Result Attributes page 275 Faults and Alarms Attributes APR Fault Attribute...
Page 187: Cip Axis Attributes
CIP Axis Attributes Chapter 4 Stopping and Braking Attributes DC Bus Control Attributes page 451 Stopping and Braking Attributes page 431 Start Inhibit Attributes page 453 General attribute characteristics Keep the following items in mind while reviewing the attribute tables: Item Description SSV access rule...
Page 188 Chapter 4 CIP Axis Attributes Acceleration Reference Usage Access Data Default Semantics of Values Type Get/ Optional - C REAL Accel Units Command acceleration reference into acceleration loop summing junction. Acceleration Feedback Usage Access Data Default Semantics of Values Type Required - E Get/ REAL...
Page 189: Acceleration Control Configuration Attributes
CIP Axis Attributes Chapter 4 See also Acceleration Control Configuration Attributes page 189 Motion Control Configuration Attributes page 317 Velocity Control Mode page 18 Acceleration Control These are the acceleration control configuration attributes associated with a Motion Control Axis. Configuration Attributes Load Observer Configuration Usage Access...
Page 190 Chapter 4 CIP Axis Attributes Load Observer Integrator Bandwidth Usage Access Data Default Semantics of Values Type Optional - C Set/SSV REAL Loop Bandwidth Units The Load Observer Integrator Bandwidth attribute determines the load observer integral gain, Koi, that together with the Kop, multiplies the integrated error signal within the observer.
Page 191: Command Reference Generation Attributes
CIP Axis Attributes Chapter 4 junction. If this deceleration limit value is exceeded, the device responds by clamping the acceleration reference to this limit and setting the Deceleration Limit status bit. See also Acceleration Control Attributes page 187 Motion Control Configuration Attributes page 317 Command Reference These are the command reference generation functionality of the device that...
Page 192 Chapter 4 CIP Axis Attributes Skip Speed 3 Usage Access Data Default Semantics of Values Type Optional - F Set/SSV REAL Velocity Units The Skip Speed 3 attribute sets the central speed of a skip speed band within which the device does not operate. The skip speed value is signed. Skip Speed Band Usage Access...
Page 193 CIP Axis Attributes Chapter 4 The Ramp Velocity - Negative attribute is a negative value that defines the maximum negative velocity command output of the Ramp Generator. Ramp Acceleration Usage Access Data Default Semantics of Values Type Optional - FV Get/SSV REAL Accel Units...
Page 194 Chapter 4 CIP Axis Attributes 0.5 * 0.01 * Jerk Control * Ramp Vel Negative / Ramp Decel. Flying Start Enable Usage Access Data Default Semantics of Values Type Optional - FV Set/SSV BOOL 0 = Flying Start Disabled 1 = Flying Start Enabled The Flying Start Enable attribute is a Boolean value which enables or disables the Flying Start feature of the device.
Page 195: Command Generator Signal Attributes
CIP Axis Attributes Chapter 4 When Sweep Frequency is selected the drive applies an algorithm that excites the motor at a predetermined frequency and, while "sweeping" the frequency to zero, checks for the motor current to change sign when the frequency matches the speed of the motor.
Page 196: Current Control Configuration Attributes
Chapter 4 CIP Axis Attributes See also Command Generator Configuration Attributes page 191 Current Control Configuration These are the current control configuration attributes associated with a Motion Control Axis. Attributes Current Vector Limit Usage Access Data Default Semantics of Values Type Optional - CF Set/SSV...
Page 197 CIP Axis Attributes Chapter 4 Flux Loop Bandwidth Usage Access Data Default Semantics of Values Type Optional - C Set/SSV REAL Loop Bandwidth Units Determines the Id Proportional Gain value that multiplies the Id Current Error signal before applying it to the Iq decoupling summing junction as part of the flux producing current loop.
Page 198 Chapter 4 CIP Axis Attributes If this attribute is not supported in the implementation, it is recommended that the drive establish induction motor flux using alternative means prior to transitioning to the Running state. Flux Up Time Usage Access Data Default Semantics of Values Type...
Page 199 CIP Axis Attributes Chapter 4 Commutation Offset Usage Access Data Default Semantics of Values Type SSV#/ Required - CE REAL Electrical Degrees (PM) # Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true). The Commutation Offset attribute specifies the commutation offset of the PM motor mounted feedback device in units of electrical degrees.
Page 200 Chapter 4 CIP Axis Attributes This algorithm applies a current to the motor stator to orient the rotor to establish the motor commutation phasing. Commutation Polarity Usage Access Data Default Semantics of Values Type Optional - CE Set/ USINT Enumeration SSV* (PM) 0 = Normal...
Page 201: Current Control Signal Attributes
CIP Axis Attributes Chapter 4 The following table correlates the default commutation alignment with the valid commutation alignment selections. Default Commutation Alignment Valid Commutation Alignment Selections Feedback Type Factory Aligned - True Factory Aligned - False Digital AqB Self-Sense* Not Aligned | Self-Sense Digital AqB with UVW Database Offset Not Aligned...
Page 202 Chapter 4 CIP Axis Attributes Operative Current Limit Usage Access Data Type Default Semantics of Values Optional - D Get/GSV REAL % Motor Rated The Operative Current Limit attribute represents the operative current limit based on multiple limit sources. Current Limit Source Usage Access Data...
Page 203 CIP Axis Attributes Chapter 4 The Current Reference attribute is the current reference signal, Iq, into the torque current loop summing junction. Flux Current Reference Usage Access Data Default Semantics of Values Type Optional - C Get/GSV REAL % Motor Rated The Flux Current Reference attribute is the command current reference, Id, into the flux producing current loop summing junction.
Page 204: Frequency Control Configuration Attributes
Chapter 4 CIP Axis Attributes Flux Current Feedback Usage Access Data Default Semantics of Values Type Optional - C Get/GSV REAL % Motor Rated Actual flux current applied to the axis based on current sensor feedback. See also Current Control Configuration Attributes page 196 CIP Axis Attributes page 185...
Page 205 CIP Axis Attributes Chapter 4 Maximum Voltage Usage Access Data Default Semantics of Values Type Required - F Set/SSV REAL Volts (RMS) The Maximum Voltage attribute sets the highest phase-to-phase voltage the drive device can output. Maximum Frequency Usage Access Data Default Semantics of Values...
Page 206: Frequency Control Signal Attribute
Chapter 4 CIP Axis Attributes Start Boost Usage Access Data Default Semantics of Values Type Required - F Set/SSV REAL Volts (RMS) The Start Boost attribute sets phase-to-phase voltage boost level for starting and accelerating. Only applicable in Basic V/Hz mode. Run Boost Usage Access...
Page 207 CIP Axis Attributes Chapter 4 Control Axis. Position Trim Usage Access Data Default Semantics of Values Type Required - P Set/SSV REAL -maxpos maxpos Position Units The Position Trim attribute is an additional position command added to the Position Command to generate the Position Reference signal into the position loop summing junction.
Page 208: Position Loop Configuration Attributes
Chapter 4 CIP Axis Attributes Position Integrator Output Usage Access Data Default Semantics of Values Type Required - P Get/GSV REAL Velocity Units The Position Integrator Output attribute is the output of position integrator representing the contribution of the position integrator to Position Loop Output. Position Loop Output Usage Access...
Page 209 CIP Axis Attributes Chapter 4 The Position Loop Bandwidth attribute determines the proportional gain, Kpp, of the position loop that multiplies the Position Error signal. This value represents the unity gain bandwidth of the position loop beyond which the position loop is ineffective.
Page 210 Chapter 4 CIP Axis Attributes The Position Error Tolerance Time attribute determines the maximum amount of time that the Position Error Tolerance can be exceeded without generating an exception. Position Lead Lag Filter Bandwidth Usage Access Data Default Semantics of Values Type Optional - P Set/SSV...
Page 211: Torque/Force Control Configuration Attributes
CIP Axis Attributes Chapter 4 qualification. When the auto-preset bit is set, the integrator preload value is automatically loaded with the current velocity command when there is a control mode change between velocity control and position control. If clear, the integrator is loaded with the configured position integrator preload value.
Page 212 Chapter 4 CIP Axis Attributes Torque or force scaling gain value that converts commanded acceleration into equivalent rated torque/force. Properly set, this value represents the total system inertia or mass. Backlash Reversal Offset Usage Access Data Default Semantics of Values Type Required - P Set/SSV...
Page 213 CIP Axis Attributes Chapter 4 Friction Compensation Sliding Usage Access Data Default Semantics of Values Type Optional - C Set/SSV REAL % Motor Rated Value added to the current/torque command to offset the effects of coulomb friction. Friction Compensation Static Usage Access Data...
Page 214 Chapter 4 CIP Axis Attributes Sets the pole frequency for the torque reference Lead-Lag Filter. A value of 0 disables the filter. Torque Lead Lag Filter Gain Usage Access Data Default Semantics of Values Type Optional - C Set/SSV REAL Sets the high frequency gain of the torque reference Lead-Lag Filter.
Page 215 CIP Axis Attributes Chapter 4 Torque Limit - Negative Usage Access Data Default Semantics of Values Type Required - C Set/SSV REAL -100 % Motor Rated This negative value determines the most negative torque value that can be applied to the motor. If the device attempts to apply a more negative torque than this limit, the torque command is clamped to this value.
Page 216 Chapter 4 CIP Axis Attributes Overtorque Limit Time Usage Access Data Default Semantics of Values Type Optional - D Set/SSV REAL Seconds Specifies the amount of time allowed in an Overtorque Limit condition before generating an Overtorque Limit exception. A value of 0 for this attribute disables the Undertorque feature.
Page 217 CIP Axis Attributes Chapter 4 Enumerated value that controls operation of the Adaptive Tuning function. This function periodically collects axis torque data and analyzes this data to identify resonances and closed loop instabilities in the system. When Adaptive Tuning Configuration is Disabled the configured values for all servo loop attributes of the associated axis are applied directly without intervention of the Adaptive Tuning function.
Page 218 Chapter 4 CIP Axis Attributes Notch Filter Tuning Threshold and that the frequency of the resonance be between the configured Torque Notch Filter Low Frequency Limit and Torque Notch Filter High Frequency Limit. The Adaptive Tuning function sets the Torque Notch Filter Frequency Estimate to the identified resonant frequency with the largest magnitude that meets the configured Notch Tuning criteria.
Page 219 CIP Axis Attributes Chapter 4 Torque Notch Filter Low Frequency Limit Usage Access Data Default Semantics of Values Type Optional - C Set/SSV REAL 2000 Filter Frequency Units This value sets the lower limit on the Torque Notch Filter Frequency Estimate value for the Adaptive Tuning function.
Page 220: Torque/Force Control Signal Attributes
Chapter 4 CIP Axis Attributes The Torque Notch Filter Magnitude Estimate value is initialized to zero when the drive is power cycled or reset. Torque Low Pass Filter Bandwidth Estimate Usage Access Data Default Semantics of Values Type Optional - C Get/GSV REAL Filter Frequency Units...
Page 221: Velocity Loop Configuration Attributes
CIP Axis Attributes Chapter 4 Torque Reference Usage Access Data Default Semantics of Values Type Required - C Get/GSV REAL % Motor Rated Commanded torque reference input signal before torque filter section representing the sum of the Torque Command and Torque Trim signal inputs. Torque Reference Filtered Usage Access...
Page 222 Chapter 4 CIP Axis Attributes Since the Velocity Trim value is available as a tag value, real time velocity corrections will be done using the Velocity Trim attribute. Acceleration Feedforward Gain Usage Access Data Default Semantics of Values Type Required - PV Set/SSV REAL The Acceleration Feedforward Gain attribute is a value that multiplies the...
Page 223 CIP Axis Attributes Chapter 4 The Velocity Negative Feedforward Gain attribute is a value that reduces or eliminates velocity overshoot by subtracting a portion of the velocity reference signal from the velocity error. Velocity Droop Usage Access Data Default Semantics of Values Type Velocity Units / Sec / % Optional - FPV...
Page 224 Chapter 4 CIP Axis Attributes Velocity Integrator Control Usage Access Data Default Semantics of Values Type Required - PV Set/SSV BYTE Bitmap 0 = Integrator Hold Enable 1 = Auto-Preset (O) 2...7 = Reserved The Velocity Integrator Control attribute controls the behavior of the velocity loop integrator while commanding motion through the controller.
Page 225 CIP Axis Attributes Chapter 4 The Velocity Threshold attribute defines a minimum absolute velocity. If the magnitude of the Velocity Feedback signal is less than this value, the Velocity Threshold status bit is set. If the axis is configured for Frequency Control, the Velocity Feedback signal is derived from the Velocity Reference signal.
Page 226 Chapter 4 CIP Axis Attributes Velocity Limit - Negative Usage Access Data Default Semantics of Values Type Optional - FPV Set/SSV REAL Velocity Units The Velocity Limit - Negative attribute is a negative value that defines the most negative velocity reference value allowed into the velocity summing junction. If the signal entering the velocity limiter exceeds this velocity limit value, the device responds by clamping the velocity reference to this limit and sets the Velocity Limit status bit.
Page 227 CIP Axis Attributes Chapter 4 SLAT Time Delay Time delay after SLAT Set Point is reached to switch from Speed control to Min/ Max control. Usage Access Data Default Semantics of Values Type Optional - V Set/SSV REAL Seconds Time delay after SLAT Set Point is reached to switch from Speed control to Min/ Max control.
Page 228: Velocity Loop Signal Attributes
Chapter 4 CIP Axis Attributes SLAT Max Speed/Torque Mode For SLAT Max Speed/Torque mode (SLAT Configuration = 2) the SLAT control operates similar to SLAT Min Speed/Torque mode, except that the signs have changed to allow the feature to work in the negative direction. Max Mode The active 'Max' select function will select the larger, or Max function, of the Velocity Loop Output or the Torque Command.
Page 229 CIP Axis Attributes Chapter 4 Acceleration Feedforward Command Usage Access Data Default Semantics of Values Type Required - PV Get/GSV REAL Accel Units The Acceleration Feedforward Command attribute is a signal that represents a scaled version of the command acceleration profile. This signal is the Acceleration Fine Command signal scaled by Acceleration Feedforward Gain and applied to the output of the velocity loop.
Page 230 Chapter 4 CIP Axis Attributes Velocity Integrator Output Usage Access Data Default Semantics of Values Type Required - PV Get/GSV REAL Accel Units Output of velocity integrator representing the contribution of the velocity integrator to Velocity Loop Output. Velocity Loop Output Usage Access Data...
Page 231 CIP Axis Attributes Chapter 4 PM Motor Torque-Speed Curve A generalized Torque-Speed curve for a PM motor is shown in the following graph. The two curves shown define the continuous (T ) and peak torque (T capabilities of the motor. PM motors typically specify a 'rated speed' (S ) based on rated voltage and continuous torque and also a 'max speed' (S ) based on the...
Page 232 Chapter 4 CIP Axis Attributes would increase rapidly. Active control of motor current is lost whenever the power structure is disabled. So the concern is when the power structure is disabled with the motor still spinning. This can be the case when the drive executes a Category 0 Stop due to a control initiated Disable Request, a Major Fault action, or a Safe Torque Off activation.
Page 233: Data Attributes
CIP Axis Attributes Chapter 4 Velocity Limiter Behavior Diagram The following diagram shows the extensions that have been added to the Velocity Limiter to help manage the inherent risks of high speed PM motor operation. In addition to the existing Velocity Limit - Positive/Negative attributes that can be used to limit the Velocity Reference signal, two new limits have been defined based on S and S...
Page 234: Axis Info Attributes
Chapter 4 CIP Axis Attributes Axis Info Attributes These are the attributes that provide information about the associated hardware capabilities of Motion Control Axis. Inverter Rated Output Voltage Usage Access Data Default Semantics of Values Type Required - D Get/GSV REAL Volts (RMS) The Inverter Rated Output Voltage attribute is the drive inverter output voltage...
Page 235: Axis Statistical Attributes
CIP Axis Attributes Chapter 4 The Converter Rated Output Power attribute is the drive converter output power rating. This value is determined by the motion axis from the associated converter. See also Drive Output Attributes page 251 Power and Thermal Management Configuration Attributes page 252 Axis Statistical Attributes These are the attributes that provide useful statistics on motion axis operation.
Page 236: Cip Axis Status Attributes
Chapter 4 CIP Axis Attributes Cumulative number of times AC Mains has been cycled. Cumulative Control Power Cycles Usage Access Data Default Semantics of value Type Optional - BD DINT Cumulative number of times Control Power has been cycled. See also Interpret the Attribute Tables page 87 CIP Axis Status Attributes...
Page 237 CIP Axis Attributes Chapter 4 CIP Axis Status Usage Access Data Default Semantics of Values Type Required - All Get/GSV DINT Enumeration: 0 = Local Contrl 1 = Alarm 2 = DC Bus UP 3 = Power Structure Enabled 4 = Motor Flux UP 5 = Tracking Command 6 = Position Lock 7 = Velocity Lock...
Page 238 Chapter 4 CIP Axis Attributes Usage Status Condition Description Required/ BD DC Bus Up This bit is set for a drive axis if the DC Bus has charged up to an operational voltage level based on direct measurement and, if applicable, the Converter Bus Up Status bit associated with external CIP Motion converter(s) supplying DC Bus power to this device is also set.
Page 239 CIP Axis Attributes Chapter 4 Usage Status Condition Description Optional/ Torque Threshold This bit is set if the absolute filtered torque reference is above the Torque Threshold. Required/ Torque Limit This bit is set if the filtered torque reference is currently being limited by the Torque Limiter.
Page 240 Chapter 4 CIP Axis Attributes Usage Status Condition Description Optional/ DC Bus Unload This bit is set by a CIP Motion converter, or a CIP Motion drive containing an integral converter, or a CIP Motion drive connected to an external non-CIP converter, to indicate that the converter cannot continue supplying DC Bus power to other drives on a shared DC Bus.
Page 241 CIP Axis Attributes Chapter 4 Usage Status Condition Description Optional/ Position Control When set, this bit indicates that axis position is being actively Mode controlled by the Position Loop. Position Control Mode is only applicable when the axis is enabled and using the PI Vector Control Method.
Page 242 Chapter 4 CIP Axis Attributes InProcessStatus DCBusUnloadStatus ACPowerLossStatus PositionControlMode VelocityControlMode TorqueControlMode CIP Axis Status - RA Usage Access Data Default Semantics of Values Type Required - All DINT Enumeration 0 = Torque Notch Filter Frequency Detected 1 = Torque Notch Filter Tuning Unsuccessful 2 = Torque Notch Filter Multiple Frequencies...
Page 243 CIP Axis Attributes Chapter 4 Usage Status Condition Description Optional/ Torque Notch Filter Tuning When the Adaptive Tuning Configuration is set to Unsuccessful Enabled, this bit is set when an update to the Torque Notch Filter Estimate, applied to the Torque Notch Filter, does not eliminate all resonances between the Torque Notch Filter Low Frequency Limit and the Torque Notch Filter High Frequency...
Page 244 Chapter 4 CIP Axis Attributes table lists the resulting CIP Axis Status RA tags associated with the above status conditions. TorqueNotchFilterFreqDetected TorqueNotchFilterTuneUnsuccessful TorqueNotchFilterMultipleFreq TorqueNotchFilterFreqBelowLimit TorqueNotchFilterFreqAboveLimit AdaptiveTuneGainStabilization CIP Axis I/O Status Usage Access Data Default Semantics of Values Type Required - All DINT Enumeration: 0 =Enable Input...
Page 245 CIP Axis Attributes Chapter 4 Usage Status Condition Description Required/ Home Input This bit represents the logical state of the Home Input. Required/ Registration 1 Input This bit represents the logical state of the Registration 1 Input. This bit represents the logical state of the Registration 2 Optional/ Registration 2 Input Input.
Page 246 Chapter 4 CIP Axis Attributes CIP Axis I/O Status - RA Usage Access Data Default Semantics of Values Type Required - All DINT Enumeration: 0 = Regenerative Power OK Input 1 = Bus Capacitor Module OK Input 2 = Shunt Thermal Switch OK Input 3 = Contactor Enable Output 4 = Pre-Charge OK Input...
Page 247: Event Capture Attributes
CIP Axis Attributes Chapter 4 See also CIP Axis Attributes page 185 Motion Control Axis Behavior Model page 51 Event Capture Attributes These are the event related attributes associated with a Motion Control Axis. These include registration, marker, and homing events. The Event Capture attributes are designed to support the possibility of up to 7 active events per controller update period.
Page 248 Chapter 4 CIP Axis Attributes The Registration 1 Positive Edge Position attribute is the feedback position latched on the rising edge of the Registration Input 1. Registration 1 Negative Edge Position Usage Access Data Default Semantics of Values Type Required - E Get/GSV REAL Position Units...
Page 249: Drive Attributes
CIP Axis Attributes Chapter 4 The Registration 1 Negative Edge Time attribute is the CST time stamp on the falling edge of the Registration Input 1. Registration 2 Positive Edge Time Usage Access Data Default Semantics of Values Type Required - E Get/GSV DINT CST Time in Microseconds...
Page 250 Chapter 4 CIP Axis Attributes Digital Outputs Usage Access Data Type Default Semantics of Values Optional - BD Set/SSV DWORD Vendor Specific Bit Map The Digital Outputs attribute is a 32-bit word with whose bits can be assigned by the vendor to general purpose digital outputs. Analog Input 1 Usage Access...
Page 251: Drive Output Attributes
CIP Axis Attributes Chapter 4 Drive Output Attributes These are the inverter output related attributes associated with a Motion Control Axis. Output Frequency Usage Access Data Default Semantics of Values Type Required - F Get/GSV REAL Hertz Optional - C The Output Frequency attribute is the time averaged output frequency applied to motor.
Page 252: Power And Thermal Management Configuration Attributes
Chapter 4 CIP Axis Attributes Converter Output Current Usage Access Data Default Semantics of Values Type Optional - BD Get/GSV REAL Amps The Converter Output Current is the output current generated by the Bus Converter. A positive value indicates current flow out of the converter, where the converter is supplying DC bus power to attached loads.
Page 253 CIP Axis Attributes Chapter 4 protection method. When a motor thermal model is employed, the motor overload condition occurs when the motor thermal model indicates that the Motor Capacity has exceeded the Motor Overload Limit. In the case of the I overload protection method, the motor overload condition occurs when the motor current, in percent of rated continuous motor current, exceeds the Motor Overload Limit.
Page 254: Power And Thermal Management Status Attributes
Chapter 4 CIP Axis Attributes No explicit action is taken by the device in the overload condition if None is the selected overload action. Selecting the Current Foldback action, however, results in a reduction of the inverter current in proportion to the percentage difference between Inverter Capacity and the Inverter Overload Limit, or in the case of the T overload protection method, in proportion to the difference between the inverter current, in percent of rated continuous inverter current, and the Inverter...
Page 255 CIP Axis Attributes Chapter 4 This enumerated value indicates what inverter overload protection method is being used by the CIP Motion device. Thermal Model inverter overload protection applies the measured motor current to an internal inverter thermal model to detect an inverter overload condition. T Overload inverter overload protection applies an I T calculation once the inverter current exceeds the product of the Inverter Overload Limit and the...
Page 256 Chapter 4 CIP Axis Attributes Motor Capacity Usage Access Data Default Semantics of Values Type Required - D Get/GSV REAL % Motor Rated The Motor Capacity attribute is the real-time estimate of the continuous rated motor thermal capacity utilized during operation based on the motor thermal model.
Page 257: Drive Commissioning And Tuning Attributes
CIP Axis Attributes Chapter 4 The Converter Capacity attribute is the real-time estimate of the continuous rated converter thermal capacity utilized during operation based on the converter thermal model. A value of 100% would indicate that the converter is being used at 100% of rated capacity as determined by the continuous current rating of the converter.
Page 258: Auto-Tune Configuration Attributes
Chapter 4 CIP Axis Attributes Auto-Tune Configuration These are the attributes that are associated with auto-tune configuration of a Motion Control Axis. Attributes System Damping Usage Access Data Default Semantics of Values Type Required - C Set/SSV REAL (Derived from Damping Factor) A Set or SSV to the System Damping attribute value calculates and updates the System Bandwidth based on the current Drive Model Time Constant value...
Page 259 CIP Axis Attributes Chapter 4 calculations are performed; the System Damping attribute value is simply updated. An SSV to the System Damping attribute also updates the Damping Factor attribute value. The value for this attribute can also be updated through a Set service to the Damping Factor attribute.
Page 260 Chapter 4 CIP Axis Attributes If the drive is configured for Velocity Loop operation the following calculations apply: Velocity Loop Bandwidth = System Bandwidth Velocity Integer Bandwidth = 0.25/Damping Factor * System Bandwidth Velocity Error Tolerance = 2 * max(Max Accel, Max Decel) / Velocity Loop Bandwidth (rad/s) •...
Page 261 CIP Axis Attributes Chapter 4 larger damping factor (such as 1.0) would produce a system step response that has no overshoot and works well for most applications. A set to the Damping Factor attribute also updates the System Damping attribute value to support Manual Tuning.
Page 262 Chapter 4 CIP Axis Attributes Drive Model Time Constant Usage Access Data Default Semantics of Values Type Set/ Required - C REAL 0.0015 Seconds SSV# # Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true). The value for the Drive Model Time Constant represents a lumped model time constant for the drive's current loop and is used to calculate the Velocity and Position Servo Bandwidth values.
Page 263 CIP Axis Attributes Chapter 4 Application Type iHold Basic Tracking Point-Point Const. Spd. The next table shows which Feedforward values are applicable based on the Application Type. Separate bits are defined in the Gain Tuning Configuration Bits attribute to enable tuning of Velocity Feedforward, Kvff, and Acceleration Feedforward, Kaff.
Page 264 Chapter 4 CIP Axis Attributes The Loop Response attribute is used by configuration and auto-tune software to determine the responsiveness of the control loops. Specifically, configuration software uses the Loop Response attribute to determine the value for the Damping Factor, Z, used in calculating individual gain values. The Damping Factor value applied is based on the enumerated Loop Response value according to the following table: Loop Response...
Page 265 CIP Axis Attributes Chapter 4 Gain Tuning Configuration Bits Usage Access Data Default Semantics of Values Type Set/ Required - C WORD Bit Field SSV# Bits 4-7 0 = Run Inertia Test 1 = Use Load Ratio 2 = Reserved 3 = Reserved 4 = Tune Pos Integrator 5 = Tune Vel Integrator...
Page 266: Hookup Test Configuration Attributes
Chapter 4 CIP Axis Attributes Bit Name Description The Tune Torque LP Filter bit attribute determines whether or not tuning Tune Torque LP Filter algorithms calculate a value for the Torque Low Pass Filter Bandwidth. If this bit is clear (false) the value for the Torque Low Pass Filter Bandwidth is not calculated or altered by the gain tuning algorithms.
Page 267: Hookup Test Result Attributes
CIP Axis Attributes Chapter 4 Hookup Test Feedback Channel Usage Access Data Default Semantics of Values Type Set/ Required - E USINT Feedback Channel SSV* 1 = Feedback 1 2 = Feedback 2 * Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is true).
Page 268 Chapter 4 CIP Axis Attributes operation. When this is the case, the test process is automatically terminated and a test error is reported that is stored in the Hookup Test Status output parameter. Hookup Test Commutation Offset Usage Access Data Default Semantics of Values Type...
Page 269: Inertia Test Configuration Attributes
CIP Axis Attributes Chapter 4 direction, can be used to configure the various polarity attributes for the correct directional sense. Hookup Test Feedback 2 Direction Usage Access Data Default Semantics of Values Type Required - E Get/GSV USINT Enumeration 0 = Positive 1 = Negative 2...255 = Reserved The Hookup Test Feedback 2 Direction attribute reports the direction of axis...
Page 270 Chapter 4 CIP Axis Attributes This enumerated attribute is used by the Auto-tuning software to determine where the measured inertia results of the test are to be stored. If set to 'motor test', the measured inertia is stored in the Rotary Motor Inertia attribute or Linear Motor Mass attribute.
Page 271 CIP Axis Attributes Chapter 4 The Tuning Speed attribute value determines the maximum speed used by the Inertia Test service initiated motion profile. This attribute should be set to the desired maximum operating speed of the motor prior to running the test. The tuning procedure will measure maximum acceleration and deceleration rates based on ramps to and from the Tuning Speed.
Page 272: Inertia Test Result Attributes
Chapter 4 CIP Axis Attributes The Load Ratio value may also be used in calculations associated with System Damping attribute. Total Inertia Usage Access Data Default Semantics of Values Type Required - C SSV# REAL Inertia Units (Rotary Motor) # Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true). Total Inertia represents the combined inertia of the rotary motor and load in engineering units.
Page 273 CIP Axis Attributes Chapter 4 Tune Status Usage Access Data Default Semantics of Values Type Required - C Get/GSV Enumeration 0 = Tune Successful 1 = Tune in Progress 2 = Tune Aborted 3 = Tune Time-out Fault 4 = Tune Failed - Servo Fault 5 = Axis Reached Tuning Travel Limit 6 = Axis Polarity Set Incorrectly...
Page 274 Chapter 4 CIP Axis Attributes Tune Acceleration Usage Access Data Default Semantics of Values Type Required - C Get/GSV REAL Position Units / Sec The Tune Acceleration attribute returns the measured peak acceleration of the last successful Inertia Test service. This value is used to calculate the Tune Inertia Mass value of the axis, and is also used to determine the tuned values for the Maximum Acceleration attribute.
Page 275: Motor Test Result Attributes
CIP Axis Attributes Chapter 4 Tune Load Offset Usage Access Data Default Semantics of Values Type Required - C Set/SSV REAL % Rated This floating point value represents the active load offset measured during the last successful Inertia Test profile. This value can be used to set the Torque Offset of the drive to cancel out the active load torque/force.
Page 276 Chapter 4 CIP Axis Attributes Motor Test Status Usage Access Data Default Semantics of Values Type Required - D Get/GSV USINT Enumeration 0 = Test Process Successful 1 = Test in Progress 2 = Test Process Aborted 3 = Test Process Timed-out 4 = Test Process Faulted 5...255 = Reserved The Motor Test Status attribute returns status of the last Run Motor Test service...
Page 277 CIP Axis Attributes Chapter 4 Motor Test Slip Speed Usage Access Data Default Semantics of Values Type Required - D Get/GSV REAL RPM: rotary motor type IM Only m/s: linear motor type This floating point value represents the slip speed of an induction motor as measured by the Motor Test procedure.
Page 278 Chapter 4 CIP Axis Attributes This floating point value represents the phase-to-phase q-axis stator inductance of the motor as measured by the Motor Test procedure expressed as a percentage of the measured Nominal Inductance, Lq, at 25%, 50%, 75%, 100%, 125%, 150%, 175% and 200% rated continuous current.
Page 279: Faults And Alarms Attributes
CIP Axis Attributes Chapter 4 Faults and Alarms The following attribute tables contain fault and alarm related attributes associated with a Motion Control Axis Object instance. Attributes APR Fault Attributes The following attribute table contains all APR (Absolute Position Recovery) fault related attributes associated with a Motion Device Axis, including standard APR faults and Rockwell Automation specific APR faults.
Page 280 Chapter 4 CIP Axis Attributes The CIP APR Faults - RA attribute is a bit mapped value that represents the state of all Rockwell Automation specific APR (Absolute Position Recovery) faults. An APR fault is generated when the system fails to recover the absolute position of the axis after power cycle, reset, or reconnection.
Page 281: Axis Exception Action Configuration Attributes
CIP Axis Attributes Chapter 4 Exception Name Description Feedback Battery Loss Battery powered Absolute Feedback device has failed to maintain absolute position through a power cycle due to low battery level or disconnected battery power. 4...15 -- Reserved -- The APR Fault exception names in the preceding tables have corresponding Logix Designer APR Fault tag names.
Page 282 Chapter 4 CIP Axis Attributes CIP Axis Exception Action Data Usage Access Default Semantics of Values Type USINT Required - All 4 (D) Enumeration for Drive Modes (D) [64] 2 (E) 0 = Ignore (O) 4 (B) 1 = Alarm (O) 2 = Fault Status Only (O) 3 = Stop Planner (O) 4 = Stop Drive (R)
Page 283: Axis Exception Action
CIP Axis Attributes Chapter 4 CIP Axis Exception Action - RA Data Usage Access Default Semantics of Values Type USINT Required - All 4 (D) Enumeration for Drive Modes (D) [64] 2 (E) 0 = Ignore (O) 4 (B) 1 = Alarm (O) 2 = Fault Status Only (O) 3 = Stop Planner (O) 4 = Stop Drive (R)
Page 284 Chapter 4 CIP Axis Attributes Automation specific axis exceptions, the 64-element CIP Axis Exception-RA array is sent to the drive device. Axis Exception Action Definitions Enum. Usage Name Description Optional Ignore Ignore instructs the device to completely ignore the exception condition.
Page 285 CIP Axis Attributes Chapter 4 Enum. Usage Name Description Stop Drive action results in the drive device (D) both setting the Required (BD) Stop Drive associated bit in the Axis Faults word and bringing the axis to a stop based on the factory set "best" available stopping method. This "best"...
Page 286 Chapter 4 CIP Axis Attributes 1. Ramp Decel 2. Current Limit Decel 3. Coast In general, the "best" stopping action is the most controlled deceleration method still available given the exception condition. The final state of the power structure in response to the Major Fault exception action can be any one of the following states that are listed in decreasing levels of control functionality: 1.
Page 287: Configuration Fault Attributes
CIP Axis Attributes Chapter 4 Exception, Fault and Alarm Attributes page 293 Stopping and Braking Attributes page 431 Configuration Fault Attributes These are the configuration fault related attributes associated with a Motion Control Axis. Attribute Error Code Data Usage Access Default Semantics of Values Type...
Page 288 Chapter 4 CIP Axis Attributes Error Error Name Description of Error Code (hex) Invalid value in object specific data A portion of the data supplied as an object specific data parameter parameter of a service request of a service was invalid. The verification of the data is specified in the object definition of the object reporting the error.
Page 289 CIP Axis Attributes Chapter 4 Error Error Name Description of Error Code (hex) Reply data too large The data to be transmitted in the response buffer is larger than the allocated response buffer, therefore, no data was transferred. Fragmentation of a primitive value The service specified an operation that is going to fragment a primitive data value, for example, halve a REAL data type.
Page 290: Exception Factory Limit Info Attributes
Chapter 4 CIP Axis Attributes Error Error Name Description of Error Code (hex) IOI Size Invalid The Size of the IOI which was sent with the Service Request is either not large enough to allow the Request to be routed to an object or too much routing data was included.
Page 291 CIP Axis Attributes Chapter 4 Motor Extended Speed Permissive is False, the Rotary Motor Overspeed Factory Limit will be based on the PM Motor Rotary Bus Overvoltage Speed. If the PM Motor Extended Speed Permissive is True, the Rotary Motor Overspeed Factory Limit will be based on the PM Motor Rotary Max Extended Speed value.
Page 292: Exception User Limit Configuration Attributes
Chapter 4 CIP Axis Attributes Exception User Limit Configuration Attributes page 292 Exception User Limit These are the exception user limit configuration related attributes associated with a Motion Control Axis. Configuration Attributes Motor Phase Loss Limit Usage Access Data Default Semantics of Values Type Optional - D...
Page 293: Exception, Fault And Alarm Attributes
CIP Axis Attributes Chapter 4 Feedback Noise User Limit Usage Access Data Default Semantics of Values Type Optional - E Set/SSV UDINT Noise Counts Sets User Limit for the Feedback Noise Overload UL exception. Example of Noise Counts would be simultaneous transitions of the A and B channel of a quadrature encoder feedback device.
Page 294 Chapter 4 CIP Axis Attributes CIP Axis Faults Usage Access Data Default Semantics of Values Type Required - All Get/GSV LWORD Refer to Standard Exceptions A bit map that represents the state of all standard runtime faults. The bit map is identical to that of the CIP Axis Exceptions attribute.
Page 295: Initialization Faults Attributes
CIP Axis Attributes Chapter 4 A bit map that represents the current state of all Rockwell Automation specific alarm conditions. Only exception conditions whose Axis Exception Action is configured to report as an alarm appear in this attribute, and will not be reported in the CIP Axis Faults attribute.
Page 296: Standard Initialization Faults
Chapter 4 CIP Axis Attributes See also Rockwell Automation Specific Initialization Faults page 296 Standard Initialization Faults page 296 Standard Initialization Faults This table defines a list of standard faults associated with the Initialization Faults attribute. Standard Initialization Fault Descriptions Exception Description This bit cannot be used since the Fault Code is defined by the associated...
Page 297: Module/Node Fault And Alarm Attributes
CIP Axis Attributes Chapter 4 Exception Description The absolute encoder was not able to accurately Feedback Absolute Startup Speed determine the position after power-up due to speed greater than 100 RPM. Commutation Offset Uninitialized The commutation offset stored in a third-party motor has not been initialized.
Page 298 Chapter 4 CIP Axis Attributes Module Fault Bits Usage Access Data Type Default Semantics of Values Required - All Get/GSV DWORD Bitmap 0 = Control Sync Fault 1 = Module Sync Fault 2 = Timer Event Fault 3 = Module Hard Fault 4 = Reserved 5 = Reserved 6 = Reserved...
Page 299 CIP Axis Attributes Chapter 4 Module Fault Device Node Fault Description Name Name Module Sync Fault Control Connection The Module Sync Fault bit attribute is set when the Update Fault motion module detects that several consecutive connection updates in a row from the Logix processor module have been missed or that an update has been excessively late as determined by the Controller Update Delay High Limit attribute value.
Page 300 Chapter 4 CIP Axis Attributes Module Fault Device Node Fault Description Name Name Clock Sync Fault Clock Sync Fault The Clock Sync Fault bit indicates that the motion device's local clock has lost synchronization with the master clock for an extended period of time (40 to 60 seconds) during synchronous operation.
Page 301 CIP Axis Attributes Chapter 4 Alarm Name Device Node Alarm Description Name Control Sync Alarm The Control Sync Alarm bit attribute is set when the Logix controller detects that several consecutive connection updates from the motion module have been missed. Module Sync Alarm Control Connection The Module Sync Alarm bit attribute is set when...
Page 302: Feedback Attributes
Chapter 4 CIP Axis Attributes Standard Exceptions page 456 Exception Factory Limit Info Attributes page 290 Exception User Limit Configuration Attributes page 292 Feedback Attributes The following position feedback related attribute tables associated with a Motion Control Axis apply to various feedback device and feedback interface technologies.
Page 303 CIP Axis Attributes Chapter 4 Multiple feedback device interfaces are currently defined by the Motion Control Axis per axis to serve specific control or master feedback functions. These feedback devices are accessed using their assigned logical channels, for example, Feedback 1 and Feedback 2.
Page 304: Feedback Configuration Attributes
Chapter 4 CIP Axis Attributes If a specific logical feedback channel, feedback n, is not applicable based on the current feedback configuration, then attributes for feedback n are not applicable; no feedback configuration attributes for that channel are set by configuration software, nor are any such attributes sent to the drive device.
Page 305 CIP Axis Attributes Chapter 4 active device Control Modes it is assumed that logical channel, Feedback 1, is attached directly to the motor while Feedback 2 is attached to the load side of the mechanical transmission. Commutation signals for a PM motor are always derived from the Feedback 1.
Page 306 Chapter 4 CIP Axis Attributes Usage Access Data Default Semantics of Values Type * Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is true). The Feedback Mode attribute determines how the various available feedback channels are used to implement the selected Control Mode.
Page 307 CIP Axis Attributes Chapter 4 Feedback Mode SSV Promotion Rules The following table describes valid Feedback Modes. Feedback Configuration Valid Feedback Modes No Feedback No Feedback Master Feedback Master Feedback Motor Feedback Motor Feedback No Feedback Load Feedback Load Feedback Dual Feedback Motor Feedback No Feedback...
Page 308 Chapter 4 CIP Axis Attributes Feedback n Type Usage Access Data Default Semantics of Values Type Required - E Set/GSV USINT Enumeration 0 = Not Specified (R) 1 = Digital AqB (O) 2 = Digital AqB with UVW (O) 3 = Digital Parallel (O) 4 = Sine/Cosine (O) 5 = Sine/Cosine with UVW (O) 6 = Hiperface (O)
Page 309 CIP Axis Attributes Chapter 4 In the case of a motor mounted feedback device, if Motor Data Source is Motor NV or Drive NV, the Feedback 1 Type may not be known to the controller but is known by the drive, so the drive can operate in this case without specifying the Feedback 1 Type.
Page 310 Chapter 4 CIP Axis Attributes Device-to-Controller connection at power-up is zero. This is an indication to the controller that the drive has been power-cycled and the drive axis needs to be homed to establish a machine reference position. When configured for Absolute mode, the device initializes the feedback count accumulator at power-up to the absolute feedback position value read from the feedback device.
Page 311 CIP Axis Attributes Chapter 4 Feedback n Cycle Resolution Usage Access Data Default Semantics of Values Type Default Cycles/Unit (Rotary): Feedback Cycles Required - E Set/GSV UDINT Feedback / Rev Not LT dint Resolution Cycles/Unit (Linear): Feedback Cycles / Unit/Cycle (Linear): nm / Feedback Cycle Bits/Unit (Rotary): 2 Cycles / Rev...
Page 312 Chapter 4 CIP Axis Attributes Feedback Type Feedback Resolution Feedback Resolution Feedback Unit = Revs Feedback Unit = Meters BiSS Digital 524288 cycles/rev 2097152 cycles/m Integrated 131072 cycles/rev 2097152 cycles/m SSI Sine/Cosine 1024 cycles/rev 4096 cycles/m SSI AqB 1024 cycles/rev 4096 cycles/m BiSS Sine Cosine 1024 cycles/rev...
Page 313 CIP Axis Attributes Chapter 4 Feedback n Length Usage Access Data Default Semantics of Values Type Required - E Set/GSV REAL 0.001 Meters Linear Absolute The Feedback n Length attribute is the specified length of a linear absolute feedback device. Typical linear absolute feedback devices specify length in Meters. This attribute can be used by the control system to determine the maximum travel range of absolute feedback device in Feedback Counts, this being the combination of the feedback cycle resolution, interpolation, and length.
Page 314 Chapter 4 CIP Axis Attributes Feedback n Resolver Excitation Voltage Usage Access Data Default Semantics of Values Type Optional - E Set/GSV REAL Volts (RMS) The Feedback n Resolver Excitation Voltage attribute sets the sinusoidal excitation voltage applied to the rotor of the designated resolver feedback device. Feedback n Resolver Excitation Frequency Usage Access...
Page 315 CIP Axis Attributes Chapter 4 motor current and voltage signals, or automatically switch to a scaled version of a redundant feedback device. In the case of redundant feedback, Feedback 1 is called the primary feedback source and the redundant channel is the called the secondary feedback source.
Page 316: General Feedback Info Attributes
Chapter 4 CIP Axis Attributes Feedback n Battery Absolute Usage Access Data Default Semantics of Values Type Optional - E Set/GSV USINT Enumeration 0 = No 1 = Yes The Feedback n Battery Absolute attribute determines if a battery is included in a battery-backed absolute feedback device.
Page 317: Motion Control Attributes
CIP Axis Attributes Chapter 4 Position Feedback n Usage Access Data Default Semantics of Values Type Required - E Get/GSV DINT Feedback n Counts The Position Feedback n attribute is the actual position of the axis based on Feedback n. See also Feedback Attributes page 302...
Page 318 Chapter 4 CIP Axis Attributes The following table provides descriptions of the bit specified Axis feature attribute values. Motion Status Description Fine Interpolation (O) Indicates that the axis supports fine interpolation of command data based on command target time. Fine interpolation is used to provide smoother command reference signals when the drive update period is smaller than the controller update period.
Page 319 CIP Axis Attributes Chapter 4 Motion Status Description The device supports the ability to change the Feedback Mode while in Feedback Mode Change (O) the Running state without generating large motion disturbances (bumpless). An example of such a mode change would be to switch from Load Feedback to Motor Feedback using an SSV instruction.
Page 320 Chapter 4 CIP Axis Attributes This attribute is used to set both the Control Mode and Control Method attributes according to the following table: Axis Config Control Mode Control Method Converter Only No Control No Control Feedback Only No Control No Control Frequency Control Velocity Control...
Page 321 CIP Axis Attributes Chapter 4 Control Mode Usage Access Data Type Default Value Description Required - All Get/ BYTE Enumeration Derived from Axis 0 = No Control Configuration 1 = Position Control 2 = Velocity Control 3 = Acceleration Control 4 = Torque Control 5...15 = Reserved SSV - These configuration attributes cannot be changed online or using an SSV...
Page 322 Chapter 4 CIP Axis Attributes Enumeration Usage Name Description R/PV Velocity Control Controls the velocity of the motor. Acceleration Control Controls the acceleration of the motor. Torque Control Controls the torque output of the motor. 5...15 Reserved Control Method The Control Method (derived from axis configuration) attribute is an 8-bit enumerated code that determines the basic motor control algorithm applied by the device to control the dynamic behavior of the motor.
Page 323: Motion Control Interface Attributes
CIP Axis Attributes Chapter 4 Motion Control Interface The Motion Control Interface attributes are used by the Logix Designer application to support the interface to an axis. Interface attributes are used to Attributes customize what choices appear on the properties pages and help you structure a motion axis.
Page 324 Chapter 4 CIP Axis Attributes I/O Map Instance Number assigned to this instance of the Motion Control Axis Object. The Map Instance attribute associates an axis to a specific motion compatible module by specifying the I/O map entry representing the module. This value is set to 0 for virtual and consumed data types.
Page 325 CIP Axis Attributes Chapter 4 Producer/Consumed axis's associated C2C connection in reference to the C2C map instance. If this axis is to be produced, then this attribute is set to the connection instance under the local controller's map instance (1) that will be used to send the remote axis data through the C2C connection.
Page 326 Chapter 4 CIP Axis Attributes The Axis Data Type attribute and is used to determine which data template, memory format, and set of attributes are created and applicable for this axis instance. This attribute can only be set as part of an axis create service. Axis Configuration State Usage Access...
Page 327 CIP Axis Attributes Chapter 4 Axis. It cannot be set directly by an external device. It is available to be read externally for diagnostic information. The Watch Event Task attribute indicates which user Task will be triggered when a watch event occurs. An instance value of 0 indicates that no event task has been configured to be triggered by the Watch Event.
Page 328 Chapter 4 CIP Axis Attributes The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the registration event. Home Event Task Usage Access Data Type Default Semantics of Values Required - E Get DINT User Event Task that will be triggered to execute when a Home event occurs.
Page 329 CIP Axis Attributes Chapter 4 The inhibit/un-inhibit operation will also stop all motion on all axes associated to the same motion module including breaking all gearing relationships. This stop operation follows that of the shutdown fault action; servo action is immediately disabled as is the drives power structure.
Page 330: Motion Control Signal Attributes
Chapter 4 CIP Axis Attributes Axis Data Type Usage Access Data Type Default Semantics of Values Required - USINT Enumeration: 0 = Feedback 1 = Consumed 2 = Virtual 3 = Generic 4 = Servo 5 = Servo Drive 6 = Generic Drive 7 = CIP Drive Associated tag data type for this instance of the Motion Control Axis Object.
Page 331 CIP Axis Attributes Chapter 4 • Actual Acceleration • Master Offset • Command Position • Command Velocity • Command Acceleration • Average Velocity The following are the signal attributes associated a Motion Control Axis: Actual Position Usage Access Data Default Semantics of Values Type Required - All...
Page 332 Chapter 4 CIP Axis Attributes Since the MGSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes, the resultant Strobe Actual Position and Strobe Command Position values for different axes can be used to perform real-time calculations.
Page 333 CIP Axis Attributes Chapter 4 Timebase determines the length over which the Average Velocity is computed. The greater the Average Velocity Timebase value, the better the speed resolution, but the slower the response to changes in speed. The Average Velocity resolution in Position Units per second may be calculated using this equation.
Page 334 Chapter 4 CIP Axis Attributes Actual Acceleration Usage Access Data Default Semantics of Values Type Get/ Required - All REAL Position Units / Sec Tag access supported but the value is valid only when Auto Tag Update of the Motion Group Object is enabled.
Page 335 CIP Axis Attributes Chapter 4 the controller software (soft registration) or, for greater accuracy, in physical hardware (hard registration). The Registration Latch mechanism is controlled two Event Control instructions, MAR (Motion Arm Registration) and MDR (Motion Disarm Registration). The accuracy of the registration position value, saved as a result of a registration event, is a function of the delay in recognizing the specified transition (typically 1 µsec for hardware registration) and the speed of the axis during this time.
Page 336 Chapter 4 CIP Axis Attributes Interpolated Actual Position Usage Access Data Default Semantics of Values Type Get/ Required - E REAL Position Units The Interpolated Actual Position attribute is the interpolation of the actual position, based on past axis trajectory history, at the time specified by the Interpolation Time attribute.
Page 337 CIP Axis Attributes Chapter 4 Strobe Command Position Usage Access Data Default Semantics of Values Type Get/ Required - FPV REAL Position Units Strobe Actual Position, Strobe Command Position and Strobe Master Offset attributes are used to simultaneously store a snap-shot of the actual, command position, and master offset position of an axis when the MGSP (Motion Group Strobe Position) instruction is executed.
Page 338 Chapter 4 CIP Axis Attributes Command Velocity Usage Access Data Default Semantics of Values Type Get/ Required - FPV REAL Position Units / Sec Tag access is supported but the value is valid only when Auto Tag Update of the Motion Group Object is enabled.
Page 339 CIP Axis Attributes Chapter 4 Command Torque Usage Access Data Default Semantics of Values Type Get/ Required - VT REAL % Rated The Command Torque attribute is the commanded torque in units of percent Rated Torque of the motor. This tag value is transferred by the Logix Processor to a physical axis as part of an ongoing synchronous data transfer process.
Page 340 Chapter 4 CIP Axis Attributes Strobe Master Offset Usage Access Data Default Semantics of Values Type Get/ Required - FPV REAL Master Position Units PV only The Strobe Master Offset attribute is the position offset that was applied to the master side of the position cam when the last Motion Group Strobe Position (MGSP) instruction was executed.
Page 341: Motion Control Status Attributes
CIP Axis Attributes Chapter 4 Interpolated Position Configuration Usage Access Data Type Default Semantics of Values Required - E Set/ DWORD Bitmap 0 = 2 Order Actual Position Interpolation 1 = 2 Order Command Position Interpolation This bit mapped attribute configures the interpolation algorithm used to calculate Interpolated Actual Position and Interpolated Command Position based on axis position history based on the current value of Interpolation Time.
Page 342 Chapter 4 CIP Axis Attributes Motion Status Bits Usage Access Data Default Semantics of Values Type Required - All Get/ DINT Bitmap 0 = AccelStatus 1 = DecelStatus 2 = MoveStatus 3 = JogStatus 4 = GearingStatus 5 = HomingStatus 6 = StoppingStatus 7 = AxisHomedStatus 8 = PositionCamStatus...
Page 343 CIP Axis Attributes Chapter 4 Motion Status Description The JogStatus bit attribute is set if a Jog motion profile is currently in progress. As soon Jog Status as the Jog is complete or superseded by some other motion operation, the JogStatus bit is cleared.
Page 344 Chapter 4 CIP Axis Attributes Motion Status Description The GearingLockStatus bit attribute is set whenever the slave axis is locked to the Gearing Lock Status master axis in a gearing relationship according to the specified gear ratio. The clutch function of the gearing planner is used to ramp an axis up, or down, to speed in a gearing process (MAG with Clutch selected).
Page 345 CIP Axis Attributes Chapter 4 Motion Status Description The JogLockStatus bit is set when the master axis satisfies the Lock Direction request of Jog Lock Status a Motion Axis Jog (MAJ) Instruction. If the Lock Direction is Immediate Forward Only or Immediate Reverse Only the JogLockStatus bit will be set immediately when the MAJ is initiated.
Page 346 Chapter 4 CIP Axis Attributes Axis Shutdown The AxisShutdownStatus bit attribute is set when the associated axis is currently in the Status Shutdown state. As soon as the axis is transitioned from the Shutdown state to another state, the Shutdown Status bit is cleared. Configuration The Configuration Update in Process Status Bits attribute provides a method for Update in Process...
Page 347 CIP Axis Attributes Chapter 4 Axis Fault Bits Usage Access Data Type Default Semantics of Values Required - All Get/GSV DWORD Bitmap 0 = PhysicalAxisFault 1 = ModuleFault 2 = ConfigurationFault 3 = GroupFault 4 = MotionFault 5 = GuardFault 6 = InitializationFault 7 = APRFault 8 = SafetyFault...
Page 348 Chapter 4 CIP Axis Attributes Name Description If the Motion Fault bit is set, it indicates that one or more fault conditions have occurred Motion Fault related to the Motion Planner function. The specific fault conditions can then be determined through access to the Motion Fault attribute of the associated axis. Guard Fault If the Guard Fault bit is set, it indicates that one or more fault conditions have occurred related to the Guard Motion safety function.
Page 349 CIP Axis Attributes Chapter 4 Name Description The Watch Event Status bit attribute is set when a watch event has Watch Event Status occurred. This bit is cleared when either another MAW (Motion Arm Watch) instruction or a MDW (Motion Disarm Watch) instruction is executed.
Page 350 Chapter 4 CIP Axis Attributes The attributes and all the output cam status words are bit patterns where each bit refers to an output cam target. For example, bit 0 is output cam target 0 and so on. This is true of all the output cam status words. Each of these bits corresponds to an output cam target.
Page 351 CIP Axis Attributes Chapter 4 Output Cam controls a subset of Output Bits. The Output Cam Transition Status bit is reset, when the transition to the pending Output Cam is complete or when the Output Cam is terminated by a Motion Disarm Output Cam (MDOC) instruction.
Page 352: Motion Database Storage Attributes
Chapter 4 CIP Axis Attributes Name Description This exception condition occurs when Soft Travel Checking is SoftTravelLimitNegativeAlarm enabled and when actual position has exceeded the configured Soft SoftTravelLimitNegativeFault Travel Limit - Negative attribute value while commanding motion in the negative direction. If the Motion Exception Action for this bit is set for Stop Planner, the faulted axis can be moved or jogged back inside the soft travel limits.
Page 353 CIP Axis Attributes Chapter 4 This floating point value represents the lumped model time constant associated with the drive device for the purposes of computing loop gains. This attribute is used to store the original Drive Model Time Constant value for subsequent upload.
Page 354: Motion Dynamic Configuration Attributes
Chapter 4 CIP Axis Attributes Motion Dynamic Configuration These are the motion dynamic configuration attributes associated with a Motion Control Axis. Attributes Maximum Speed Usage Access Data Default Semantics of Values Type Required - Set/ REAL maxspd Position Units / Sec The value of the Maximum Speed attribute is used by various motion instructions to determine the steady-state speed of the axis.
Page 355 CIP Axis Attributes Chapter 4 Programmed Stop Mode Usage Access Data Default Semantics of Values Type Required - All Set/ USINT Enumeration 0 = Fast Stop (default) 1 = Fast Disable 2 = Hard Disable 3 = Fast Shutdown 4 = Hard Shutdown The Programmed Stop Mode attribute determines how a specific axis will stop when the Logix processor undergoes a critical processor mode change or when an explicit MGS (Motion Group Stop) instruction is executed with its stop mode set...
Page 356 Chapter 4 CIP Axis Attributes Maximum Acceleration Jerk Usage Access Data Type Default Semantics of Values Required - FPV Set/ REAL Position Units / Sec The Maximum Acceleration Jerk attribute value is used by motion instructions, for example, MAM and MAJ, to determine the acceleration jerk to apply to the axis when the acceleration jerk is specified as a percent of the Maximum.
Page 357: Motion Homing Configuration Attributes
CIP Axis Attributes Chapter 4 Name Description Enables the prevention of unwanted velocity reversals when the Prevent S-Curve Velocity Reversals deceleration rate is being dynamically changed (MAS instruction). Reduced Extreme Velocity Overshoot This bit limits the velocity overshoot to 50% of the programmed velocity by increasing the acceleration jerk as necessary.
Page 358 Chapter 4 CIP Axis Attributes Homing Mode Description Passive homing redefines the current absolute position of the axis on the occurrence of a home Passive switch, encoder marker, or home to torque event. Passive homing is most commonly used to calibrate uncontrolled axes, although it can also be used with controlled axes to create a custom homing sequence.
Page 359 CIP Axis Attributes Chapter 4 Homing Sequence Types Description Active Bidirectional Home to This active homing sequence is useful when an encoder marker is not available. When Switch this sequence is performed, the axis moves in the specified Home Direction at the specified Home Speed and Home Acceleration until the home limit switch is detected.
Page 360 Chapter 4 CIP Axis Attributes Homing Sequence Types Description Active Bidirectional Home to This active homing sequence is useful for single turn rotary and linear encoder Marker applications since these have only one encoder marker for full axis travel. When this sequence is performed, the axis moves in the specified Home Direction at the specified Home Speed and Home Acceleration until the marker is detected.
Page 361 CIP Axis Attributes Chapter 4 Homing Sequence Types Description Active Unidirectional Home to Unidirectional home is usually used when the physical axis cannot change directions. Switch This active homing sequence is useful when an encoder marker is not available and either unidirectional motion is required or proximity switch is being used.
Page 362 Chapter 4 CIP Axis Attributes Homing Sequence Types Description Active Unidirectional Home to This active homing sequence is useful for multi-turn rotary applications when Switch then Marker unidirectional motion is required. When this sequence is performed in the Active Homing Mode, the axis moves in the specified Home Direction at the specified Home Speed and Home Acceleration until the home switch is detected.
Page 363 CIP Axis Attributes Chapter 4 Homing Sequence Types Description The Home to Torque sequence is applicable when a hard stop is used to establish the Active Home to Torque home position, as is a common practice for a linear actuator. The occurrence of the hard stop is detected by the drive when the output torque to the motor reaches or exceeds the Home Torque Threshold for the specified Home Torque Time.
Page 364 Chapter 4 CIP Axis Attributes Homing Sequence Types Description Active Home to Torque then Like the Home to Torque sequence, the Home to Torque then Marker sequence is Marker applicable when a hard stop is used as the home position, as is common for a linear actuator, and the feedback device is equipped with an encoder marker signal.
Page 365 CIP Axis Attributes Chapter 4 Homing Sequence Types Description Passive Home with Switch then This passive homing sequence is useful for multi-turn rotary applications. Marker When this sequence is performed in the Passive Homing Mode, an external agent moves the axis until the home switch and then the first encoder marker is detected. The home position is assigned to the axis position at the precise position where the marker was detected.
Page 366 Chapter 4 CIP Axis Attributes In most cases, Home Position is set to zero, although any value, within the Maximum Positive and Negative Travel limits of the axis (if enabled), may also be used. (A description of the Maximum Positive and Negative Travel configuration attributes may be found in the Servo and Drive Axis Object specifications.) For a cyclic axis, the Home Position is constrained to be a positive number less than the Position Unwind value divided by the Conversion Constant.
Page 367: Motion Planner Configuration Attributes
CIP Axis Attributes Chapter 4 The Home Return Speed attribute controls the speed of the jog profile used after the first leg of an active bidirectional homing sequence as described in the above discussion of the Home Sequence Type attribute. This is valid for non-immediate cases of active Home Mode.
Page 368 Chapter 4 CIP Axis Attributes Output Cam Execution Targets Usage Access Data Default Semantics of Values Type Get/ Required - E DINT # of Targets Represents the number of Output Cam nodes attached to this axis. This attribute can be set only when the axis instance is created. The Output Cam Execution Targets attribute is used to specify the number of Output Cam nodes attached to the axis.
Page 369 CIP Axis Attributes Chapter 4 Name Description Master Delay By default, both the Position Camming and Gearing functions, when applied to Compensation a slave axis, perform Master Delay Compensation to compensate for the delay time between reading the master axis command position and applying the associated slave command position to the input of the slave's servo loop.
Page 370 Chapter 4 CIP Axis Attributes Name Description 2...31 Reserved Master Position Filter Bandwidth Usage Access Data Default Semantics of Values Type Required - E Set/ REAL 1000 Hertz PV only 1/(4*CUP) 1/CUP Valid when Master Position Filter is enabled. A value of 0 disables the filter. CUP = Coarse Update Period Minimum Range limits based on Coarse Update Period are ultimately enforced for Master Position Filter Bandwidth attribute by clamping to limit rather than...
Page 371 CIP Axis Attributes Chapter 4 Motion Exception Action Usage Access Data Default Semantics of Values Type USINT Required - All 4 (D) Enumeration for Drive Modes (D) [32] 2 (N) 0 = Ignore 1 = Alarm 2 = Fault Status Only 3 = Stop Planner 4 = Stop Drive 5 = Shutdown...
Page 372 Chapter 4 CIP Axis Attributes Enumeration Name Description The Stop Drive action results in the controller both setting the Stop Drive associated bit in the Motion Fault Status word, abruptly stopping the motion planner, and bringing the axis to a stop by disabling the axis.
Page 373 CIP Axis Attributes Chapter 4 Soft Travel Limit, Positive and Negative Usage Access Attribute Name Data Default Semantics of Type Values Soft Travel Limit - Required - E Set/ SSV REAL -maxpos maxpos Position Units Positive Required - E Set/ SSV Soft Travel Limit - REAL -maxpos...
Page 374: Motion Planner Output Attributes
Chapter 4 CIP Axis Attributes used by gearing and camming functions. Generally this value should be set to 0 since the device applies the command position according to the associated time stamp. A non-zero value would have the effect of phase advancing or retarding the axis position relative to a master axis.
Page 375: Motion Scaling Attributes
CIP Axis Attributes Chapter 4 y = (float)(compos – x). Planner Actual Position Usage Access Data Type Default Semantics of Values Required - ED Get/ DINT Planner Counts This attribute value is the Motion Planner generated actual position in planner counts.
Page 376 Chapter 4 CIP Axis Attributes Scaling mode the drive is responsible for Position Unwind (Cyclic Unwind) operations associated with Cyclic Travel Mode (Cyclic Unwind Control). Scaling Source Usage Access Data Type Default Semantics of Values Required - All Set/ SSV# USINT Enumeration: 0 = From Calculator...
Page 377 CIP Axis Attributes Chapter 4 • Unwind = Conversion Constant * (Unwind Num/Unwind Denom) Limited Travel: • Max Resolution = Int((2^31-1) * (Pos Scaling Num/Pos Scaling Denom) / Travel Range) • Base Resolution = Minimum (Default Motion Resolution, Max Resolution) •...
Page 378 Chapter 4 CIP Axis Attributes Feedback, such as with Sensorless/Encoderless operation, then the only valid Travel Mode setting is "Unlimited". Position Scaling Numerator Usage Access Data Type Default Semantics of Values Required - All Set/ GSV REAL Position Units A floating point value used by the scaling calculator to determine the number of Position Units per Position Scaling Denominator units (Motion Units).
Page 379 CIP Axis Attributes Chapter 4 Motion Unit Usage Access Data Type Default Semantics of Values Required - All Set/ GSV USINT Enumeration 0 = Motor Rev 1 = Load Rev 2 = Feedback Rev 3 = Motor mm 4 = Load mm 5 = Feedback mm 6 = Motor inch 7 = Load inch...
Page 380 Chapter 4 CIP Axis Attributes • Conversion Constant / Motion Resolution = Motion Units (revs, inches, or millimeters) / Position Unit Conversely, all actual position, velocity, and acceleration data from the Motion Planner is scaled from Motion Units to the user's preferred Position Units based on the Motion Resolution and Conversion Constant.
Page 381 CIP Axis Attributes Chapter 4 The Default Motion Resolution value used for scaling factors, Motion Resolution, Conversion Constant, and Position Unwind, depends on the Motion Unit selection according to the following table: Motion Unit Default Motion Resolution Motor|Load|Feedback Rev 1,000,000 Motor|Load|Feedback mm 10,000 Motor|Load|Feedback Inch...
Page 382 Chapter 4 CIP Axis Attributes Motion Polarity Usage Access Data Default Semantics of Values Type Required - All Set/ SSV# USINT Enumeration: 0 = Normal Polarity 1 = Inverted Polarity 2-255 = (Reserved) # Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true). When Motion Scaling Configuration is set for Drive Scaling, Motion Polarity can be used to switch the directional sense of the motion control system.
Page 383 CIP Axis Attributes Chapter 4 Access Rule Signal Attribute Name Skip Speed 3 Position Command Set* Position Trim Position Reference Velocity Feedforward Command Position Error Position Integrator Output Position Loop Output Velocity Command Set* Velocity Trim Acceleration Feedforward Command Velocity Reference Velocity Feedback Velocity Error Velocity Integrator Output...
Page 384 Chapter 4 CIP Axis Attributes Access Rule Signal Attribute Name Output Current Output Voltage Output Power Motion Polarity can also have an impact on directional position, velocity, acceleration, and torque limit attributes. When the Motion Scaling Configuration is set to Drive Scaling, inverting Motion Polarity requires that positive and negative position, velocity, acceleration*, and torque limit values be both sign inverted and swapped between the CIP Motion Connection interface and the drive's internal control structure.
Page 385 CIP Axis Attributes Chapter 4 The Position Units string attribute allows user-defined engineering units rather than "counts" to be used for measuring and programming all motion-related values (position, velocity, acceleration, etc). Position Units can be different for each axis and should be chosen for maximum ease of use in the machine application. For example, linear axes might use Position Units of "Inches", "Meters", or "mm"...
Page 386: Motion Resolution Value Examples
Chapter 4 CIP Axis Attributes Position Unwind Usage Access Data Default Semantics of Values Type Set/ Default Motion Required - E DINT Counts/Cycle SSV# Resolution # Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true). If the axis is configured for cyclic Travel Mode, a value for the Position Unwind attribute is required.
Page 387 CIP Axis Attributes Chapter 4 The control system is responsible for scaling Motion Counts into equivalent Motor Feedback Counts. In this case, because the motor is directly coupled to the load, one rotation of the shearing drum translates to one revolution of the motor feedback device.
Page 388: Motor Attributes
Chapter 4 CIP Axis Attributes See also Motion Scaling Attributes page 375 Motor Attributes These are the motor configuration attributes associated with a Motion Control Axis that apply to various motor technologies. These motor technologies include three-phase motor rotary, linear, permanent magnet and induction motors. Motor attributes are organized according to the various motor types.
Page 389: General Motor Attributes
CIP Axis Attributes Chapter 4 Linear Motor Max Speed Usage Access Data Default Semantics of Values Type Optional Set/GSV REAL The Linear Motor Max Speed attribute is a floating point value that specifies the absolute maximum operating speed of a linear motor in units of m/s. This speed may be determined by the limitations of the motor, limitations of the drive power structure, or by limitations of the mechanical system, whichever is less.
Page 390 Chapter 4 CIP Axis Attributes Motor Catalog Number Usage Access Data Type Default Semantics of Values Required SHORT For example, MPL-B310F STRING The Motor Catalog Number attribute is a string, up to 32-characters, that specifies the motor catalog number. In the controller this is a settable attribute and is used to identify a specific motor record in the Motion Database when Motor Data Source is set to Database.
Page 391 CIP Axis Attributes Chapter 4 • Motor NV implies that the motor attributes are derived from non-volatile memory of a motor-mounted smart feedback device equipped with a serial interface. Again, in this mode, only a minimal set of motor and motor feedback (Feedback 1) are required to configure the drive.
Page 392 Chapter 4 CIP Axis Attributes Motor Device Codes are assigned by the motor manufacturer. A value of 0 for the Motor Device Code will be accepted by the drive without comparison. Motor Type Usage Access Data Type Default Semantics of Values Required Set/GSV USINT...
Page 393 CIP Axis Attributes Chapter 4 Motor Polarity Usage Access Data Type Default Semantics of Values Optional Set/SSV* USINT Enumeration 0 = Normal Polarity 1 = Inverted Polarity 2...255 = Reserved * Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is true).
Page 394 Chapter 4 CIP Axis Attributes Motor Rated Peak Current Usage Access Data Type Default Semantics of Values Required - PM Set/GSV REAL Amps (RMS) Optional - IM The Motor Rated Peak Current attribute is a floating point value that specifies the peak or intermittent current rating of the motor.
Page 395 CIP Axis Attributes Chapter 4 When employing an overload protection method based on a motor thermal model, the Motor Capacity attribute value represents how much of the motor's rated thermal capacity, associated with the motor thermal model, has been utilized. Once the Motor Capacity value exceeds the Motor Overload Limit, the drive can optionally trigger a predetermined Motor Overload Action.
Page 396: General Permanent Magnet Motor Attributes
Chapter 4 CIP Axis Attributes Motor Winding to Ambient Resistance Usage Access Data Type Default Semantics of Values Optional Set/GSV REAL °C/Watt The Motor Winding to Ambient Thermal Resistance attribute is a floating point value that specifies the winding-to-ambient thermal resistance. See also Motor Attributes page 57...
Page 397 CIP Axis Attributes Chapter 4 PM Motor Flux Saturation Usage Access Data Type Default Semantics of Values Optional REAL [8] [100, 100, % Nominal Inductance 100, 100, (SPM Only) 100, 100, 100, 100] The PM Motor Flux Saturation attribute is an array of floating point values that specify the amount of flux saturation in the motor as a function of current.
Page 398 Chapter 4 CIP Axis Attributes PM Motor Lq Flux Saturation Usage Access Data Type Default Semantics of Values Optional REAL [8] [100, 100, % Nominal Inductance 100, 100, (IPM Only) 100, 100, 100, 100] The PM Motor Lq Flux Saturation attribute is an array of floating point values that specify the amount of q-axis flux saturation in the motor as a function of current.
Page 399: General Rotary Motor Attributes
CIP Axis Attributes Chapter 4 that Bus Overvoltage protection be provided through a resistive brake module or DC bus regulation device to avoid drive damage. Specifically, the PM Motor Extended Speed Permissive determines if the Bus Overvoltage Speed is applied to the velocity limiter function. The Bus Overvoltage Speed is only applied to the velocity limiter if the PM Motor Extended Speed Permissive is False.
Page 400 Chapter 4 CIP Axis Attributes Usage Access Data Default Semantics of Values Type # Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true). The Rotary Motor Inertia attribute is a floating point value that specifies the unloaded inertia of a rotary motor.
Page 401: Induction Motor Attributes
CIP Axis Attributes Chapter 4 Rotary Motor Fan Cooling Speed Usage Access Data Default Semantics of Values Type Optional Set/GSV REAL The Rotary Motor Fan Cooling Speed attribute selects the output speed of the motor below which the Motor Rated Continuous Current is derated due to the reduced effectiveness of an integral fan cooling system.
Page 402 Chapter 4 CIP Axis Attributes Induction Motor Flux Current Usage Access Data Default Semantics of Values Type Required Set/SSV* REAL Amps (RMS) * Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is true).
Page 403 CIP Axis Attributes Chapter 4 Usage Access Data Default Semantics of Values Type This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques. * Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is true).
Page 404: Linear Pm Motor Attributes
Chapter 4 CIP Axis Attributes The Induction Motor Rated Slip Speed attribute represents the amount of slip at motor rated current (full load) and motor rated frequency. See also General Motor Attributes page 389 General Permanent Magnet Motor Attributes page 396 Linear PM Motor Attributes page 404 Motor Attributes...
Page 405 CIP Axis Attributes Chapter 4 The PM Motor Linear Voltage Constant attribute is a floating point value that specifies the voltage, or back-EMF, constant of a linear permanent magnet motor in phase-to-phase RMS Volts per meter/sec. If the optional PM Motor Force Constant, Kf, is not explicitly supported in the implementation, the value may be computed from the PM Motor Linear Voltage Constant, Ke, according to this equation: Kf (N/A ) = 1.732 * Ke (V...
Page 406: Interior Permanent Magnet Motor Attributes
Chapter 4 CIP Axis Attributes When the extended speed range of a PM motor is permitted (PM Motor Extended Speed Permissive is True) the PM Motor Linear Max Extended Speed attribute value can be used to limit the speed of a linear motor to protect the motor or load from damage due to an overspeed condition.
Page 407 CIP Axis Attributes Chapter 4 PM Motor Ld Flux Inductance Usage Access Data Default Semantics of Values Type Required REAL Henries A floating point value that specifies the phase-to-neutral, d-axis, inductance of an interior permanent magnet motor. PM Motor Ld Flux Saturation Usage Access Data...
Page 408 Chapter 4 CIP Axis Attributes increased by the value of the attribute. This attribute is used by the drive to compensate for changes in the optimal Commutation Offset angle that can occur as a function of motor current. Motor Test Lq Inductance Usage Access Data...
Page 409: Load Transmission And Actuator Attributes
CIP Axis Attributes Chapter 4 Motor Test Max Speed Usage Access Data Default Semantics of Values Type Required - D REAL RPM (rotary motor type) m/s (linear motor type) This floating point value represents the maximum speed of the motor as determined by the Motor Test procedure.
Page 410 Chapter 4 CIP Axis Attributes Transmission Ratio Input Usage Access Data Default Semantics of Values Type Required - All Set/GSV DINT Input Shaft Revs The Transmission Ratio Input attribute is an integer number of input shaft revolutions per transmission cycle associated with the rotary transmission. Transmission Ratio Output Usage Access...
Page 411 CIP Axis Attributes Chapter 4 Actuator Lead Unit Usage Access Data Default Semantics of Values Type Required - All Set/GSV USINT Enumeration 0 = mm/Rev 1 = Inch/Rev 2...255 = Reserved The Actuator Lead Unit attribute indicates the units of the Actuator Lead attribute.
Page 412: Rotary Pm Motor Attributes
Chapter 4 CIP Axis Attributes Rotary PM Motor Attributes These are the motor configuration attributes that apply specifically to rotary motor types. PM Motor Rated Torque Usage Access Data Type Default Semantics of Values Optional Set/GSV REAL The PM Motor Rated Torque attribute is a float that specifies the nameplate continuous torque rating of a rotary permanent magnet motor.
Page 413 CIP Axis Attributes Chapter 4 extended speed range of a PM motor is not permitted, this value can be used to limit motor speed to protect the drive from damage caused from bus overvoltage conditions that occur when disabling a PM motor at high speed. When configured for Position Loop or Velocity Loop operation, this bus overvoltage protection includes limiting the magnitude of the velocity reference value allowed into the velocity summing junction to the Bus Overvoltage Speed...
Page 414: Safety Attributes
Chapter 4 CIP Axis Attributes See also General Motor Attributes page 389 General Permanent Magnet Motor Attributes page 396 General Rotary Motor Attributes page 399 Motor Attributes page 57 Velocity Loop Signal Attributes page 228 Safety Attributes The following attributes tables contains attributes associated with safety functionality.
Page 415 CIP Axis Attributes Chapter 4 Short Name Full Name Control Drive Description Safe Torque Off Disables associated drive power structure. Safe Brake Control Engages safety brake. Safe Stop 1 Monitors Category 1 Stop followed by STO. Safe Stop 2 Monitors Category 2 Stop followed by SOS. Safe Operating Stop Monitor standstill condition for movement.
Page 416 Chapter 4 CIP Axis Attributes Axis Safety State Data Usage Access Default Semantics of Values Type Optional - DE Get/GSV UINT Enumeration: Safety only 0 = Unknown (No Motion Connection) 1 = Self-Testing 2 = Configured (No Safety Connection) 3 = Self-Test Exception 4 = Running 5 = Recoverable Fault 6 = Unrecoverable Fault...
Page 417 CIP Axis Attributes Chapter 4 Safety Description Supervisor State 2 = Configured (No Safety Idle The safety function of drive has been initialized, Connection) successfully completed self-testing, and has a valid safety configuration. However, the device is not executing the operational components of its safety functions.
Page 418 Chapter 4 CIP Axis Attributes Axis Safety Status Usage Access Data Type Default Semantics of Values Optional - DE Get/GSV DWORD Bitmap: Safety only 0 = Safety Fault 1 = Safety Reset Request 2 = Safety Reset Required 3 = Safe Torque Off Active 4 = Safe Torque Disabled 5 = Safe Brake Control (SBC) Active...
Page 419 CIP Axis Attributes Chapter 4 The Axis Safety Status attribute is a collection of bits indicating the status of the standard safety functions for the axis as reported by the embedded Safety Core of the device. The Axis Safety Status word is a concatenation of two 16-bit safety status attributes.
Page 420 Chapter 4 CIP Axis Attributes Axis Safety Faults Data Usage Access Default Semantics of Values Type Optional - DE Get/GSV T DWORD Bitmap: Safety only 0 = (reserved) 1 = Safety Core Fault 2 = Safety Feedback Fault 3 = Safe Torque Off Fault 4 = Safe Stop 1 (SS1) Fault 5 = Safe Stop 2 (SS2) Fault 6 = Safe Operating Stop (SOS)
Page 421 CIP Axis Attributes Chapter 4 where the safety function is executed, be it in the Safety Controller, or the drive's Safety Core. Axis Safety Faults - RA Data Usage Access Default Semantics of Values Type Optional - DE Get/GSV DWORD Bitmap: Safety only 0 = (reserved)
Page 422 Chapter 4 CIP Axis Attributes Action Source is set to Connected Drive, this value determines the stopping method to apply to the motor. Each Safe Torque Off Action enumeration initiates one of two defined Stopping Sequences, Category 0 Stop, or Category 1 Stop. The definition for each enumeration will follow the same enumerations defined for the Stopping Action attribute.
Page 423 CIP Axis Attributes Chapter 4 selection is only valid if the connected controller is supplying the "Run/Idle" Real Time header. Safe Stopping Action Usage Access Data Default Semantics of Values Type Optional - D Set/ USINT Enumeration: SSV# Safety Only 0 = Current Decel 1 = Ramped Decel 2-127 = (reserved)
Page 424 Chapter 4 CIP Axis Attributes Required/Opt Name Description ional O/FV Ramped Decel Current Decel & Disable also leaves the power structure and any active control loops enabled while stopping but uses the Ramp Generator associated with the Velocity Fine Command Generator block to decelerate the motor to a stop.
Page 425: Guard Safety Attributes
CIP Axis Attributes Chapter 4 Axis Safety Data A Usage Access Data Type Default Semantics of Values General Purpose Data Optional - DE Get/GSV DWORD Container A 32-bit container holding general purpose Safety Data passed from the Safety Controller thru the Safety Pass Thru object attribute, Safety Pass Thru Data A. Axis Safety Data B Usage Access...
Page 426: Guard Safety Status Attributes
Chapter 4 CIP Axis Attributes attributes associated with the integrated Safety functionality provided by a CIP Safety connection. See also Guard Safety Status Attributes page 426 Guard Safety Status Attributes The Guard Status attribute is a collection of bits indicating the safety status of the motion axis.
Page 427 CIP Axis Attributes Chapter 4 Guard Status Bit Descriptions Name Description Guard OK Indicates if the drive is free of any Guard Fault conditions. Guard Config Locked Indicates that configuration data for the drive safety core has been locked and cannot be modified. Guard Gate Drive Output Indicates the state of the Gate Drive (MP OUT) circuit used to disable the drive power structure.
Page 428 Chapter 4 CIP Axis Attributes Name Description Guard Enabling Switch Input Indicates the current state of the Safe Enabling Switch Monitor input. Guard Enabling Switch Monitor In Indicates if the Safe Enabling Switch Monitor (ESM) monitoring Progress function of the safety core is in progress. Guard Reset Input Indicates the state of the Safety Reset input use to initiate return to normal operational state of the safety core.
Page 429 CIP Axis Attributes Chapter 4 Guard Faults Usage Access Data Type Semantics Optional - D DWORD Bitmap 0 = (Reserved - Combined Faults) 1 = Guard Internal Fault 2 = Guard Configuration Fault 3 = Guard Gate Drive Fault 4 = Guard Reset Fault 5 = Guard Feedback 1 Fault 6 = Guard Feedback 2 Fault 7 = Guard Feedback Speed Compare Fault...
Page 430 Chapter 4 CIP Axis Attributes Guard Faults Bit Descriptions Name Description Reserved - Combined Faults An internal fault has been detected by the Safety Core Guard Internal Fault hardware. This can includes safety processor faults, inter-processor communications faults, safety power supply faults, and gate drive circuitry.
Page 431: Stopping And Braking Attributes
CIP Axis Attributes Chapter 4 Name Description Guard Lock Monitor Fault The Lock Monitoring Inputs were detected as OFF when the Door should have been locked or the Lock Monitoring Inputs were detected as ON when the Door was opened. Guard Enabling Switch Monitor Input A fault has been detected on the Enabling Switch Monitor Fault...
Page 432 Chapter 4 CIP Axis Attributes • In the case of a Disable Request, the stopping method is applied while in the Stopping state and the final state after the stopping method is completed is the Stopped state. • In the case of an Abort Request, the stopping method is applied while in the Aborting state and the final state after the stopping method completes is the Major Faulted state.
Page 433 CIP Axis Attributes Chapter 4 Connection Loss Stopping Action Usage Access Data Default Semantics of Values Type Set/ Opt - D USINT Enumeration: SSV# 1 for C 0 = Disable and Coast 0 for F 1 = Current Decel and Disable 2 = Ramped Decel and Disable 3 = Current Decel and Hold 4 = Ramped Decel and Hold...
Page 434 Chapter 4 CIP Axis Attributes Enum. Usage Name Description Current Decel Current Decel and Disable leaves the power structure and any active and Disable control loops enabled while stopping. If configured for position control mode, the drive forces the position reference to hold its current value until the axis reaches zero speed.
Page 435 CIP Axis Attributes Chapter 4 Enum. Usage Name Description DC Injection DC Injection Brake immediately applies the configured DC Injection Brake Brake Current to the motor to create a static flux field to bring an induction motor to a stop before disabling the power structure. AC Injection AC Injection Brake decreases the device output frequency from its Brake...
Page 436 Chapter 4 CIP Axis Attributes not supported, the Coasting Time Limit applies the Stopping Time Limit value. If Stopping Time Limit is not supported a factory set timeout may be applied. Resistive Brake Contact Delay Usage Access Data Default Semantics of Values Type Optional - D Set/SSV...
Page 437 CIP Axis Attributes Chapter 4 Mechanical Brake Control Usage Access Data Default Semantics of Values Type Optional - D Set/SSV USINT Enumeration 0 = Automatic 1 = Brake Release 2...225 = Reserved The Mechanical Brake Control attribute governs the operation of the drive's Mechanical Brake Output that controls the mechanical brake mechanism.
Page 438 Chapter 4 CIP Axis Attributes 7. Wait for "Mechanical Brake Release Delay" while brake releases. 8. Transition to Running (or Testing) state. Mechanical Brake Engage Delay Usage Access Data Default Semantics of Values Type Optional - D Set/SSV REAL Seconds When disabling the motion axis using a Category 1 Stopping Action, the Mechanical Brake Engage Delay value determines the amount of time the device power structure will remain enabled after the axis has decelerated to standstill.
Page 439 CIP Axis Attributes Chapter 4 Zero Speed Time Usage Access Data Default Semantics of Values Type Optional - D Set/SSV REAL This attribute sets the amount of time that the axis speed must be below the zero speed threshold, set by the Zero Speed attribute or established by the drive vendor, before satisfying the zero speed criteria.
Page 440 Chapter 4 CIP Axis Attributes Proving is enabled, the mechanical brake must be set as soon as the drive is disabled. When the brake is under the control of the axis state machine this is automatic. But when controlled externally, failure to set the brake when the drive is disabled can cause a free fall condition on a vertical application.
Page 441 CIP Axis Attributes Chapter 4 slip, a Brake Slip exception is generated along with a Brake Malfunction start inhibit. The sequencing of the torque and brake "prove" tests are described in detail by the Mechanical Brake Engage Delay and Mechanical Brake Release Delay attributes. The Proving feature includes a number of optional Sub-Features, many of which depend on support of other Proving feature attributes.
Page 442 Chapter 4 CIP Axis Attributes Brake Test Torque Usage Access Data Default Semantics of Values Type Optional - DE Set/SSV REAL % Motor Rated This attribute sets the percent of motor rated torque applied to the motor by the Brake Test as part of the Torque Proving function executed in the Starting state. This Brake Test proactively tests the ability of the mechanical brake to hold the maximum anticipated load before releasing the brake and allowing operation.
Page 443 CIP Axis Attributes Chapter 4 DC Injection Brake Current Usage Access Data Default Semantics of Values Type Optional - D Set/SSV REAL % Motor Rated The DC Injection Brake Current attribute defines the brake current level injected into an induction motor stator when DC Injection Brake is selected as the Stopping Action.
Page 444 Chapter 4 CIP Axis Attributes the drive also sets the Brake Malfunction start inhibit. This prevents the drive from restarting after the load has been safely lowered to the floor. Auto Sag Slip Increment Usage Access Data Default Semantics of Values Type Optional - DE Set/SSV...
Page 445: Stopping Sequences
CIP Axis Attributes Chapter 4 When the Auto Sag Configuration attribute is set to Enabled, this attribute is used to enable the Auto Sag function in the Stopped or Faulted state. When Auto Sag Start is enabled, the drive monitors the load for possible brake slip and should the amount of brake slip exceed the Brake Slip Tolerance a Brake Slip exception is generated, along with a Brake Malfunction start inhibit.
Page 446 Chapter 4 CIP Axis Attributes the stopping sequences end up in the Major Faulted state. In the context of a Shutdown Request, the Category 0 stopping method below is applied in the Stopping state and the stopping sequence ends up in Shutdown state. Category 0 Stop Sequence Inverter is immediately disabled.
Page 447 CIP Axis Attributes Chapter 4 1. Switch to Stopping state. 2. Apply "Current Decel" or "Ramp Decel" method to stop motor. 3. Wait for zero speed or 'Stopping Time Limit' or a factory set timeout, whichever occurs first. 4. Deactivate Mechanical Brake output to engage brake. 5.
Page 448: Proving Operational Sequences
Chapter 4 CIP Axis Attributes 4. Transition to Stopped state. A Category 2 stop sequence is not allowed if initiated by a Disable Request or fault action with a Start Inhibit condition present. If a Start Inhibit condition is present, a Category 1 stop sequence is initiated instead, using the same stopping method (Current Decel or Ramped Decel) that would have been applied by the Category 2 stop sequence.
Page 449 CIP Axis Attributes Chapter 4 Drive Enable Sequence with Proving Tests Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 450 Chapter 4 CIP Axis Attributes Drive Disable Sequence with Proving Test Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 451: Dc Bus Control Attributes
CIP Axis Attributes Chapter 4 See also Stopping and Braking Attributes page 431 Stopping Sequences page 445 DC Bus Control Attributes These are Motion Control Axis attributes associated with DC Bus control including functionality to address both under-voltage and over-voltage conditions. DC Bus Voltage Usage Access...
Page 452 Chapter 4 CIP Axis Attributes return before Power Loss Timeout period expires, a Bus Power Loss Exception is generated. A Decel Regen action selection configures the drive to regeneratively charge the DC bus by decelerating the motor using the bus regulator to regulate the bus voltage at a predetermined level.
Page 453: Start Inhibits Attributes
CIP Axis Attributes Chapter 4 Power Loss Time Usage Access Data Default Semantics of Values Type Optional - BD Set/SSV REAL Seconds Sets the timeout value before a Bus Power Loss Exception is generated by the drive in response to a Power Loss condition. For details, see the Power Loss Action attribute table earlier in this topic.
Page 454: Standard Start Inhibits
Chapter 4 CIP Axis Attributes CIP Start Inhibits - RA Usage Access Data Default Semantics of Values Type Required - D Get/GSV WORD Enumeration: 0 = Reserved 1 = Volts Hertz Curve Definition 2 = Motor Feedback Required 3 = Speed Limit Configuration 4 = Torque Prove Configuration 5 = Safe Torque Off 6 = Safety Reset Required...
Page 455: Rockwell Automation Specific Start Inhibits
CIP Axis Attributes Chapter 4 AxisEnableInputInhibit MotorNotConfiguredInhibit FeedbackNotConfiguredInhibit CommutationNotConfiguredInhibit SafeTorqueOffActiveInhibit See also Start Inhibit Attributes page 453 Rockwell Automation Specific Start Inhibits page 455 Axis Safety Status Attributes page 414 Rockwell Automation Specific Start The following table defines a list of standard start inhibits associated with the Start Inhibits attribute.
Page 456: Exceptions
Chapter 4 CIP Axis Attributes Inhibit Condition Description Brake Malfunction The start inhibit is set when the Auto Sag function is enabled, and the brake slip is detected based on motor movement exceeding the configured Brake Slip Tolerance while the mechanical brake is engaged. This typically indicates that the mechanical brake may not be capable of holding the load.
Page 457 CIP Axis Attributes Chapter 4 • B = Converters • D = Frequency, Position, Velocity, and Torque Control modes • E = Feedback Only The enumerations for exceptions is as follows: • 0 = Ignore (All) • 1 = Alarm (All) •...
Page 458 Chapter 4 CIP Axis Attributes Array Rule Exception Description Index Motor Phase Loss The current in one or more motor phases is lost, or is below a factory setting threshold or, if supported, the configured Motor Phase Loss Limit. This exception is also associated with the optional Torque Prove function that tests motor current against an engaged mechanical brake.
Page 459 CIP Axis Attributes Chapter 4 Array Rule Exception Description Index Converter Thermal Overload UL Converter thermal model or I T overload value has exceeded its user-defined thermal capacity given by the Converter Thermal Overload User Limit. Multiple AC phases have been lost on the AC line to the Converter AC Power Loss converter.
Page 460 Chapter 4 CIP Axis Attributes Array Rule Exception Description Index Bus Power Leakage DC Bus power leak has been detected when configured for Standalone operation. This can occur when the drive, configured for Standalone operation, is incorrectly wired to share DC bus power. Bus Power Sharing An external converter sharing DC Bus power with this drive in a Shared AC/DC or Shared DC configuration has requested...
Page 461: Standard Cip Axis Fault And Alarm Names
CIP Axis Attributes Chapter 4 Array Rule Exception Description Index Brake Slip Motor displacement exceeds the brake slip tolerance while the mechanical brake is engaged. Hardware Overtravel Positive Axis moved beyond the physical travel limits in the positive direction and activated the Positive Overtravel limit switch. If the CIP Axis Exception Action for this condition is set for Stop Planner, the faulted axis can be moved or jogged back inside the hardware overtravel limit.
Page 462 Chapter 4 CIP Axis Attributes This table lists the resulting Fault names associated with the Standard Exception conditions. Standard CIP Axis Fault Names Object CIP Axis Fault Name --Reserved-- Motor Overcurrent Fault Motor Commutation Fault Motor Overspeed FL Fault Motor Overspeed UL Fault Motor Overtemperature FL Fault --Reserved-- Motor Thermal Overload FL Fault...
Page 463 CIP Axis Attributes Chapter 4 Object CIP Axis Fault Name Bus Undervoltage FL Fault Bus Undervoltage UL Fault Bus Overvoltage FL Fault Bus Overvoltage UL Fault Bus Power Loss Fault Bus Power Blown Fuse Bus Power Leakage Fault Bus Power Sharing Fault Feedback Signal Noise FL Fault Feedback Signal Noise UL Fault Feedback Signal Loss FL Fault...
Page 464 Chapter 4 CIP Axis Attributes Motor Commutation Alarm Motor Overspeed FL Alarm Motor Overspeed UL Alarm Motor Overtemperature FL Alarm --Reserved-- Motor Thermal Overload FL Alarm Motor Thermal Overload UL Alarm Motor Phase Loss Alarm Inverter Overcurrent Alarm Inverter Overtemperature FL Alarm --Reserved-- Inverter Thermal Overload FL Alarm Inverter Thermal Overload UL Alarm...
Page 465: Rockwell Automation Specific Exceptions
CIP Axis Attributes Chapter 4 Feedback Signal Loss FL Alarm Feedback Signal Loss UL Alarm Feedback Data Loss FL Alarm Feedback Data Loss UL Alarm Feedback Device Alarm --Reserved-- Brake Slip Alarm Hardware Overtravel Positive Alarm Hardware Overtravel Negative Alarm --Reserved-- --Reserved-- Excessive Position Error Alarm...
Page 466 Chapter 4 CIP Axis Attributes • 0 = Ignore (All) • 1 = Alarm (All) • 2 = Fault Status Only (B, D) • 3 = Stop Planner (D) Rockwell Automation Specific Exception Table Rule Exception Name Description -- Reserved -- This bit cannot be used since the Alarm Codes and Fault Code are defined by the associated exception bit number and an Alarm Code or Fault Code of 0 means no alarm or fault...
Page 467: Rockwell Automation Specific Cip Axis Fault Names
CIP Axis Attributes Chapter 4 Rule Exception Name Description Decel Override The drive is not following a commanded deceleration because it is attempting to limit bus voltage. Preventative Maintenance Component has reached lifetime limit. Motor Test Failure Motor Test procedure has failed. Hardware Configuration Error related to the tracking of optional hardware installation.
Page 468: Rockwell Automation Specific Cip Axis Alarm Names
Chapter 4 CIP Axis Attributes Rockwell Automation Specific CIP Axis Fault Names Object CIP Axis Fault Name Commutation Startup Fault Motor Voltage Mismatch Feedback Filter Noise Fault Feedback Battery Loss Fault Feedback Battery Low Fault Feedback Incremental Count Error Fault Control Module Overtemperature FL Fault Converter Pre Charge Overload FL Fault Excessive Current Feedback Offset Fault...
Page 469: Rockwell Automation Publication Motion-Rm003I-En-P - February
CIP Axis Attributes Chapter 4 Object CIP Axis Alarm Name Feedback Battery Loss Alarm Feedback Battery Low Alarm Feedback Incremental Count Error Alarm Control Module Overtemperature FL Alarm Converter Pre Charge Overload FL Alarm Excessive Current Feedback Offset Alarm Regenerative Power Supply Alarm PWM Frequency Reduced Alarm Current Limit Reduced Alarm Torque Prove Alarm...
Page 471 Chapter 5 Module Configuration Attributes The following attribute tables contains Module Configuration attributes associated with components that are common to all axis instances of a multi-axis CIP Motion device or module. Examples of these common device components are a Bus Converter, Bus Regulator, Common Power Supply, Feedback Cards, Network Interface, and so on.
Page 472: Module Configuration Attributes
Chapter 5 Module Configuration Attributes Configuration Bits Usage Access Data Default Semantics of Values Type Required - All BYTE Bitmap: 0 = Verify Power Structure (O/D) 1 = Networked Safety Bit Valid (O/D) 2 = Allow Networked Safety (O/D) 3...7 = Reserved This attribute is a collection of bits used for configuration of an associated CIP Motion device.
Page 473: Module Class Attributes
Module Configuration Attributes Chapter 5 Module Class Attributes The following collection of Module Class Attributes are stored in the controller and used to configure Motion Device Axis Object Class attributes associated with the CIP Motion device. These attributes generally apply to the CIP Motion connection behavior.
Page 474: Module Axis Attributes
Chapter 5 Module Configuration Attributes Module Configuration Attributes page 471 Module Axis Attributes Module Axis attributes are used to configure common components of a CIP Motion device, for example the Bus Converter, Bus Regulator, and so on, that apply to all axis instances of the device. If these Module Class attributes are included in the CIP Motion Control Axis Object implementation, the attribute values are the same for all axis instances associated with the device.
Page 475 Module Configuration Attributes Chapter 5 PWM Frequency Usage Access Data Type Default Semantics of Values Optional - D UINT[8] [] = 0 [] = 0 [] = 2 Hertz [ Axis 1 PWM Freq, Axis 2 PWM Freq, Axis 3 PWM Freq, Axis 4 PWM Freq, Axis 5 PWM Freq, Axis 6 PWM Freq,...
Page 476 Chapter 5 Module Configuration Attributes • "Shared DC" specifies that this drive is sharing DC bus power generated by another Shared AC/DC or Shared DC/DC CIP Motion drive, or external CIP Motion Converter. • "Shared DC - Non CIP Converter" specifies that this drive is receiving DC bus power generated by an external AC/DC converter that is not CIP Motion compliant and distributing its DC bus power to other CIP Motion drives.
Page 477 Module Configuration Attributes Chapter 5 Bus Regulator Action Usage Access Data Type Default Semantics of Values Optional - BD USINT[8] []=1 Enumeration: 0 = Disabled O) 1 = Shunt Regulator (O) 2-127 = (reserved) 128 - 255 = (vendor specific) Rockwell Automation 128 = Adj.
Page 478 Chapter 5 Module Configuration Attributes are only applicable to axis instances whose associated Inverter Support bit is set. Array elements that are not applicable or not configured are set to 0. Regenerative Power Limit Usage Access Data Type Default Semantics of Values Optional - D REAL[8] []=100...
Page 479 Module Configuration Attributes Chapter 5 • "AC/DC Non-Regenerative" represents the class of devices that convert AC input power to DC output power. They do not have the capability to transfer energy back to the AC main supply. • "AC/DC Regenerative" represents the class of devices that convert power between AC and DC sources.
Page 480 Chapter 5 Module Configuration Attributes Rockwell specific identifier for the External Shunt Regulator. A value of 0 indicates use of a custom shunt regulator that requires user configuration. External Shunt Power Usage Access Data Type Default Semantics of Values Optional - BD REAL 0.20 Kilowatts...
Page 481 Module Configuration Attributes Chapter 5 This attribute represents the external DC Bus capacitance when the associated drive is acting as a Common Bus Leader, supplying DC Bus power to one or more Common Bus Followers. This attribute is not applicable when the Bus Regulator Action is set to Common Bus Follower.
Page 482 Chapter 5 Module Configuration Attributes together in a Shared AC/DC or Shared DC Bus Configuration. Assignment to a Bus Sharing Group limits the DC Bus Unload action initiated by a converter in the group, and the resultant Bus Power Sharing exceptions, to Shared AC/DC and Shared DC drives in the converter's assigned Bus Group.
Page 483 Module Configuration Attributes Chapter 5 • "Light" Duty provides highest continuous rating at the expense of lower overload capacity. Specification for the continuous and overload ratings under Normal, Heavy, and Light Duty are left to the discretion of the drive vendor. Duty Select is used to determine the level of thermal protection for the motor and the inverter during drive operation.
Page 484 Chapter 5 Module Configuration Attributes The purpose of Demo Mode is to allow demonstration of products in non-industrial environments. It is not intended for use in real motion applications. Converter Overtemperature User Limit Usage Access Data Type Default Semantics of Values Optional - BD REAL Degrees Celsius (°C)
Page 485 Module Configuration Attributes Chapter 5 Bus Regulator Thermal Overload User Limit Usage Access Data Type Default Semantics of Values Optional - BD REAL % Regulator Rated This attribute sets the user limit for the Bus Regulator Thermal UL exception. Bus Overvoltage User Limit Usage Access Data Type...
Page 486 Chapter 5 Module Configuration Attributes This attribute sets the user limit for the Converter Pre-Charge Overload UL exception. Digital Output Configuration Usage Access Data Type Default Semantics of Values Optional - All REAL []=0 Enumeration: 0 = Unassigned 1 = Contactor Enable 2 = Mechanical Brake 3 = Resistive Brake 4-255 = (reserved)
Page 487 Module Configuration Attributes Chapter 5 Digital Input Configuration Usage Access Data Type Default Semantics of Values Optional - All REAL []=0 Enumeration: 0 = Unassigned 1 = Enable 2 = Home 3 = Registration 1 4 = Registration 2 5 = Positive Overtravel 6 = Negative Overtravel 7 = Regenerative Power OK 8 = Bus Capacitor OK...
Page 488 Chapter 5 Module Configuration Attributes This attribute sets the reference voltage used to actively regulate the DC Bus Output Voltage output of Bus Converter power structure instance n when in the Running state. Power structure instance attributes are only applicable when supporting multiple converter power structure generated DC Bus outputs per axis object instance Bus Output Overvoltage User Limit n Usage...
Page 489: Module Feedback Port Attributes
Module Configuration Attributes Chapter 5 Module Feedback Port Module Axis attributes are used to configure the feedback ports of the device module. Each device module may be equipped with multiple feedback ports that Attributes can be freely mapped to the various feedback channels of a CIP Motion axis instance.
Page 490: Module Timing Attributes
Chapter 5 Module Configuration Attributes information to filter the Feedback Type list associated with the port. This multidimensional array follows the same indexing rules as the Feedback Port Select. See also Feedback Attributes page 302 Module Timing Attributes page 490 Module Configuration Attributes page 471 Module Timing Attributes...
Page 491 Module Configuration Attributes Chapter 5 Time Diagnostics Usage Access Data Type Default Semantics of Values Required - All BYTE Bitmap: 0: Enable Time Statistics 1: Reset Transmission Statistics 2-7: (reserved) Controller firmware only parameter (does not go to the drive) which controls whether timing diagnostic data is requested from the drive.
Page 492: Module Support Attributes
Chapter 5 Module Configuration Attributes Module Support Attributes page 492 Module Configuration Attributes page 471 Module Support Attributes The following AOP Module C-tag parameters are used by configuration software to determine the size of various array data needed to configure the CIP Motion device and whether attributes associated with the converter function will be sent to the CIP Motion device.
Page 493 Module Configuration Attributes Chapter 5 Number of Configurable Inputs Usage Access Data Type Default Semantics of Values Optional - All USINT[8] [] = 0 Number of inputs [ Axis 1 Inputs, Axis 2 Inputs, Axis 3 Inputs, Axis 4 Inputs, Axis 5 Inputs, Axis 6 Inputs, Axis 7 Inputs,...
Page 494 Chapter 5 Module Configuration Attributes indexed elements of this array correspond to axis instances 1 thru 8. Array elements that are not applicable or configured are set to 0. See also Module Axis Attributes page 474 Module Configuration Attributes page 471 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 495: Index
Index motion control interface 347 motion control signal 355 motion control status 367 attribute units 94 motion database storage 380 attributes motion dynamic configuration 382 command generator configuration 209 motion homing configuration 385 command generator signal 213 motion planner configuration 399 command reference generation 209 motion planner output 407 configuration fault 307...
Page 496 Index device function codes 96 exceptions 496 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018...
Page 497 Rockwell Automation support Rockwell Automation provides technical information on the web to assist you in using its products. At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to software service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com for software updates, support chats and forums, technical information, FAQs, and to sign up for product notification updates.

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Allen-Bradley ControlLogix Reference Manual

Preface

Integrated Motion on the Ethernet/Ip Network

Chapter 1

Chapter 2 Acceleration Control Behavior

Chapter 3

Interpret the Attribute Tables

Chapter 4 Control Mode Attributes ....................................................................................................

CIP Axis Attributes

Module Configuration Attributes

Chapter 5 Module Configuration Block Attributes ........................................................................ 471

Index

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Summary of Contents for Allen-Bradley ControlLogix