Allen-Bradley ControlLogix Reference Manual page 193

CIP Axis Attributes
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
Optional - FV Get/SSV
Derived from Max
Accel
The Ramp Acceleration attribute is a positive value that defines the maximum
acceleration (increasing speed) of the velocity command output by the Ramp
Generator.
Ramp Deceleration
Usage Access
Optional - FV Get/SSV
Derived from Max
Decel
The Ramp Deceleration attribute is a positive value that defines the maximum
deceleration (decreasing speed) of the velocity command output by the Ramp
Generator.
Ramp Jerk Control
Usage Access
Optional - FV Get/SSV
The Ramp Jerk Control attribute sets the percentage of accel or decel time that is
applied to the speed ramp as jerk limited S Curve based on a step change in
velocity. The S Curve time is added ½ at the beginning and ½ at the end of the
ramp. A value of 0 results in no S-Curve, for example, a linear acceleration or
deceleration ramp.
A value of 100% results in a triangular acceleration profile with the peak being the
configured ramp acceleration or deceleration.
As the Jerk Control value increases the derived accelerating jerk value decreases
based on:
0.5 * 0.01 * Jerk Control * Ramp Vel Positive / Ramp Accel
and the decelerating Jerk limit value also decreases according to:
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Data Default Min Max
Type
REAL 0 0
Data Default Min Max
Type
REAL 0 0
Data Default Min Max
Type
REAL 0 0 100
Chapter 4
Semantics of Values
Accel Units
Semantics of Values
Accel Units
Semantics of Values
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