Motion Rm003 en P
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YOHAN ALEXANDER SALAMANCA ARBOLEDAReference Manual
Integrated Motion on the EtherNet/IP Network
ControlLogix, CompactLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527,
PowerFlex 755
Important user information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment
before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions
in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by
suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,
the protection provided by the equipment may be impaired.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated
with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and
diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this
manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic
loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence
Important: Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be
present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous
temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc
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).
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
None for this release.
New or enhanced features
This table contains a list of topics changed in this version, the reason for the
change, and a link to the topic that contains the changed information.
Topic Name Reason
Acceleration Control Attributes on page 262 Updated the Access and semantics of values columns in each
attribute. Added Acceleration Command attribute.
Position Loop Signal Attributes on page 281 Added Position Command, Position Feedback, Position Feedback
- 64 bit, and Position Integral Feedback attributes. Updated the
Access and Data Type columns for Position Trim and Position
Reference.
Position Loop Configuration Attributes on page 284 Added Position Limit - Positive and Position Limit - Negative.
Torque/Force Control Signal Attributes on page 298 Added Total Inertia Estimate attribute.
Torque/Force Control Configuration Attributes on page 288 Updated Semantics of Values for Backlash Compensation
Window. Changed the Access column to Set for all attributes.
Added Acceleration to Torque/Force Scaling Gain, Inertia
Observer Configuration, Inertia Observer Filter Bandwidth
attributes.
Velocity Loop Signal Attributes on page 307 Added Velocity Command.
Axis Info Attributes on page 312 Added Drive Power Structure Axis ID.
Drive General Purpose I/O Attributes on page 334 Updated Access columns in each attribute. Added Enable Input
Checking, Hardware Overtravel Input Checking, Digital Output
Configuration, Digital Input Configuration, Enable Input Pulse
Reject Filter, Home Input Pulse Reject Filter, Home and
Regeneration Input Pulse 1 Reject Filter, Motor Thermostat OK
Input Pulse Reject Filter, Pre-Charge OK Input Pulse Reject Filter,
AC Line Contactor OK Input Pulse Reject Filter, Bus Conditioner
OK Input Pulse Reject Filter, Converter OK Input Pulse Reject
Filter attributes.
Power and Thermal Management Status Attributes on page 344 Added Converter Temperature, Converter Temperature Capacity,
Converter Heatsink Temperature, Converter Heatsink
Temperature Capacity, AC Line 1 Capacity, AC Line 2 Capacity, AC
Line 3 Capacity, Converter Overload Limit, Motor Overload
Action, Inverter Overload Action, Converter Overload Action
attributes.
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 3
Summary of changes
Topic Name Reason
Exception Factory Limit Info Attributes on page 392 Added the following attributes:
• Motor Overtemperature Factory Limit
• Motor Thermal Overload Factory Limit
• Inverter Overtemperature Factory Limit
• Inverter Thermal Overload Factory Limit
• Converter Overtemperature Factory Limit
• Converter Thermal Overload Factory Limit
• Converter Ground Current Factory Limit
• Bus Regulator Overtemperature Factory Limit
• Bus Regulator Thermal Overload Factory Limit
• Bus Overvoltage Factory Limit
• Bus Undervoltage Factory Limit
• Feedback Noise Factory Limit
• Feedback Signal Loss Factory Limit
• Feedback Data Loss Factory Limit
• Control Module Overtemperature Factory Limit
• Converter Pre-Charge Overload Factory Limit
• AC Line Overvoltage Factory Limit
• AC Line Undervoltage Factory Limit
• AC Line Overvoltage Factory Limit - Alternate
• AC Line Undervoltage Factory Limit - Alternate
• AC Line High Frequency Limit
• AC Line Low Freq Factory Limit
• AC Line High Freq Factory Limit - Alternate
• AC Line Low Freq Factory Limit - Alternate
• Convrter Heatsink Overtemp Factory Limit
• AC Line Overload Factory Limit
• AC Line Resonance Factory Limit.
Feedback Configuration Attributes on page 418 Changed the Access and Data Type for the Feedback Mode
attribute. Updated Semantics of Values for Feedback N Length.
Added Feedback Master Select, Feedback N Resolution Unit,
Feedback N Port Select, Feedback N LDT Type attributes.
Motion Control Configuration Attributes on page 433 Updated Enumerations 9-255.
Axis Safety Status Attributes on page 537 Updated Semantics of Values for Safety Fault Action. Updated
Safe Torque Off Action.
Stopping and Braking Attributes on page 556 In Stopping Action attribute, updated Semantics of Values. In
Connection Loss Stopping Action, updated Access column.
Updated Positive Brake Contact Delay.
Rockwell Automation Specific Start Inhibits on page 578 Updated description in Bit 11.
DC Bus Condition Attributes on page 579 In DC Bus Voltage table, updated the Access column. Added DC
Bus Voltage - No Minimal, Bus Regulator Reference, Bus
Configuration, Bus Voltage Select, Bus Regulator Action,
Regenerative Power Limit, Converter Regeneration Power Limit,
Converter Motoring Power Limit, Shunt Regulator Resistor Type.
Converter AC Line Monitoring Attributes on page 588 Updated the Access column in the attributes.
AC Line Condition Attributes on page 597 Updated Access column in the attributes.
4 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Summary of changes
Topic Name Reason
Converter Types on page 600 In Converter Types table, updated semantics of values.
Converter Control Mode Attributes on page 601 Updated Access column in the attributes.
Converter Bus Voltage Control Configuration Attributes on page Updated defaults in attributes.
604
Converter Current Control Configuration Attributes on page 613 Updated defaults in attributes.
Standard Exceptions on page 623 Updated array index numbers 6, 12, 52, and 53.
Rockwell Automation Specific Exceptions on page 634 Added Bit 64-127 Reserved.
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 5
Table of contents
Preface Additional Resources......................................................................................................... 13
Legal Notices ....................................................................................................................... 14
Chapter 1
Integrated Motion on the Integrated Motion Axis Control Modes and Methods .............................................. 20
Motion Control Modes ............................................................................................ 20
EtherNet/IP Network
Position Control Mode ..................................................................................... 21
Velocity Control Mode ..................................................................................... 23
Torque Control Mode ...................................................................................... 26
No Control Mode .............................................................................................. 26
Motion Control Methods ........................................................................................ 27
Motion Instruction Compatibility ......................................................................... 29
Chapter 2
Behavior models used in CIP Acceleration Control Behavior ....................................................................................... 31
Acceleration Limiter .................................................................................................. 32
Motion
Load Observer ............................................................................................................. 33
Command Generation Behavior..................................................................................... 34
Command Data Sources ........................................................................................... 35
Command Fine Interpolation ................................................................................. 36
Command Ramp Generator .................................................................................... 39
Feedforward Signal Selection ................................................................................... 40
Command Notch Filter ............................................................................................ 41
Current Control Behavior ............................................................................................... 41
Current Vector Limiter ............................................................................................ 42
Voltage Output ........................................................................................................... 43
Current Feedback....................................................................................................... 43
Motor Commutation ................................................................................................ 44
Event Capture Behavior.................................................................................................... 44
Event Input Sources ................................................................................................... 46
Event Latches .............................................................................................................. 46
Event Time Stamps .................................................................................................... 47
Fault and Alarm Behavior ................................................................................................ 47
Exceptions .................................................................................................................... 47
Absolute Position Recovery ..................................................................................... 49
Absolute Position Loss without APR Faults ................................................ 50
APR Fault Conditions ...................................................................................... 50
APR Fault Generation....................................................................................... 51
APR Fault Examples .......................................................................................... 53
APR Recovery Scenarios ................................................................................... 54
Reset an APR Fault ............................................................................................ 57
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 7
Table of contents
Motion Control Axis Behavior Model .......................................................................... 57
Active Control Axis Behavior Model ..................................................................... 58
Feedback Only Axis Behavior Model ..................................................................... 61
CIP Motion Non-regenerative Converter Axis Behavior Model..................... 63
Motor Attributes Model ........................................................................................... 64
Position Control Behavior ....................................................................................... 65
Position Feedback Selection ............................................................................. 66
Position PI Gains ................................................................................................ 66
Velocity Feedforward......................................................................................... 66
Position Loop Output Filters .......................................................................... 67
State Behavior ............................................................................................................. 68
Torque Control Behavior ......................................................................................... 78
Torque Input Sources ........................................................................................ 79
Inertia Compensation ....................................................................................... 80
Friction Compensation ..................................................................................... 82
Torque filters ....................................................................................................... 84
Torque Limiter ................................................................................................... 85
Torque to Current Scaling ............................................................................... 85
Velocity Control Behavior ....................................................................................... 86
Closed Loop Velocity Control ........................................................................ 87
Open Loop Frequency Control ....................................................................... 90
Chapter 3
Interpret the Attribute Attribute Units ................................................................................................................... 96
CIP Data Types .................................................................................................................. 97
Tables
Device Function Codes ..................................................................................................... 97
Required vs. Optional Axis Attributes........................................................................... 99
Identify Motion Axis Attributes Based on Device Function Codes...................... 102
Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP
Network ............................................................................................................................. 120
Drive Supported Optional Attributes ......................................................................... 123
Kinetix 350 Drive Module Optional Attributes................................................ 125
Kinetix 5500 Hardwired STO Drive Module Optional Attributes .............. 131
Kinetix 5500 Integrated STO Drive Module Optional Attributes ............... 139
Kinetix 5700 Safety Drive Module Optional Attributes ................................. 148
Kinetix 5700 Advanced Safety Drive Module Optional Attributes .............. 156
Kinetix 5700 CIP Safety (EtherNet/IP) Module Optional Attributes ........ 165
Kinetix 5700 CIP Advanced Safety (EtherNet/IP) Module Optional
Attributes ................................................................................................................... 176
Kinetix 5700 Regenerative Bus Supply Module Optional Attributes ........... 187
Kinetix 6500 Drive Module Optional Attributes ............................................. 199
PowerFlex 527 Axis Instance Optional Attributes ........................................... 205
PowerFlex 755 Standard Drive Module Optional Attributes ........................ 211
PowerFlex 755 High Power, Standard Drive Module Optional Attributes 218
8 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Table of contents
PowerFlex 755 Low Power, Non-Network Safety Drive Module Optional
Attributes ................................................................................................................... 224
PowerFlex 755 High Power, Non-Network Safety Drive Module Optional
Attributes ................................................................................................................... 231
PowerFlex 755 Low and High Power, STO Only Network Safety Drive
Module Optional Attributes.................................................................................. 238
PowerFlex 755 Low and High Power, Advanced Safety Network Safety Drive
Module Optional Attributes.................................................................................. 245
MSG Instruction Access Only Attributes ................................................................... 253
Chapter 4
CIP Axis Attributes Control Mode Attributes ............................................................................................... 262
Acceleration Control Attributes ........................................................................... 262
Acceleration Control Configuration Attributes ............................................... 264
Command Reference Generation Attributes ..................................................... 266
Command Generator Configuration Attributes ....................................... 266
Command Generator Signal Attributes ...................................................... 270
Current Control Configuration Attributes ....................................................... 271
Current Control Signal Attributes ....................................................................... 276
Frequency Control Configuration Attributes ................................................... 279
Frequency Control Signal Attribute .................................................................... 281
Position Loop Signal Attributes ............................................................................ 281
Position Loop Configuration Attributes ............................................................ 284
Torque/Force Control Configuration Attributes ............................................ 288
Torque/Force Control Signal Attributes ............................................................ 298
Velocity Loop Configuration Attributes............................................................. 299
Velocity Loop Signal Attributes ............................................................................ 307
Data Attributes ................................................................................................................. 312
Axis Info Attributes ................................................................................................. 312
Axis Statistical Attributes ....................................................................................... 314
CIP Axis Status Attributes ..................................................................................... 315
Event Capture Attributes ....................................................................................... 332
Drive Attributes ............................................................................................................... 334
Drive General Purpose I/O Attributes ................................................................ 334
Drive Output Attributes ........................................................................................ 341
Power and Thermal Management Configuration Attributes ......................... 342
Power and Thermal Management Status Attributes ........................................ 344
Drive Commissioning and Tuning Attributes........................................................... 354
Auto-Tune Configuration Attributes ................................................................. 354
Hookup Test Configuration Attributes.............................................................. 363
Hookup Test Result Attributes............................................................................. 364
Inertia Test Configuration Attributes ................................................................. 366
Inertia Test Result Attributes ................................................................................ 370
Motor Test Result Attributes ................................................................................ 373
Faults and Alarms Attributes ......................................................................................... 376
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 9
Table of contents
APR Fault Attributes .............................................................................................. 376
Axis Exception Action Configuration Attributes ............................................. 378
Axis Exception Action ..................................................................................... 382
Configuration Fault Attributes ............................................................................. 386
CIP Error Codes ............................................................................................... 386
Exception Factory Limit Info Attributes ............................................................ 392
Exception User Limit Configuration Attributes ............................................... 401
Exception, Fault and Alarm Attributes ............................................................... 405
Initialization Faults Attributes .............................................................................. 408
Standard Initialization Faults ........................................................................ 409
Rockwell Automation Specific Initialization Faults ................................. 409
Module/Node Fault and Alarm Attributes ........................................................ 411
Feedback Attributes ......................................................................................................... 415
Feedback Interface Types ....................................................................................... 415
Feedback Configuration Attributes ..................................................................... 418
General Feedback Info Attributes ........................................................................ 432
General Feedback Signal Attributes ..................................................................... 433
Motion Control Attributes ............................................................................................ 433
Motion Control Configuration Attributes ........................................................ 433
Motion Control Interface Attributes .................................................................. 440
Motion Control Signal Attributes ........................................................................ 448
Motion Control Status Attributes........................................................................ 459
Motion Database Storage Attributes ................................................................... 471
Motion Dynamic Configuration Attributes ...................................................... 475
Motion Homing Configuration Attributes........................................................ 479
Motion Planner Configuration Attributes ......................................................... 490
Motion Planner Output Attributes ..................................................................... 495
Motion Scaling Attributes ...................................................................................... 496
Motion Resolution Value Examples ............................................................. 508
Motor Attributes .............................................................................................................. 509
General Linear Motor Attributes ......................................................................... 509
General Motor Attributes ...................................................................................... 511
General Permanent Magnet Motor Attributes .................................................. 519
General Rotary Motor Attributes ......................................................................... 522
Induction Motor Attributes .................................................................................. 524
Linear PM Motor Attributes ................................................................................. 526
Interior Permanent Magnet Motor Attributes .................................................. 529
Load Transmission and Actuator Attributes ..................................................... 532
Rotary PM Motor Attributes ................................................................................ 534
Safety Attributes ............................................................................................................... 537
Axis Safety Status Attributes .................................................................................. 537
Guard Safety Attributes .......................................................................................... 551
Guard Safety Status Attributes .............................................................................. 552
Stopping and Braking Attributes .................................................................................. 556
Stopping Sequences.................................................................................................. 569
Proving Operational Sequences............................................................................. 573
Start Inhibits Attributes.......................................................................................... 576
10 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Table of contents
Standard Start Inhibits .................................................................................... 576
Rockwell Automation Specific Start Inhibits ............................................. 578
DC Bus Condition Attributes ...................................................................................... 579
Converter AC Line Input Attributes .......................................................................... 588
Converter AC Line Monitoring Attributes ....................................................... 588
Converter AC Line Configuration Attributes................................................... 594
Converter AC Line Source Configuration Attributes ..................................... 596
AC Line Condition Attributes ............................................................................. 597
Converter Control Attributes ....................................................................................... 600
Converter Types ....................................................................................................... 600
Converter Control Mode Attributes ................................................................... 601
Converter Bus Voltage Control Configuration Attributes ............................. 604
Converter Bus Voltage Control Signal Attributes ............................................ 607
Converter Current Reference Configuration Attributes ................................ 610
Converter Current Reference Signal Attributes ................................................ 612
Converter Current Control Configuration Attributes.................................... 613
Converter Current Control Signal Attributes ................................................... 615
Converter Reactive Power Control Attributes .................................................. 621
Converter Output Attributes ................................................................................ 623
Exceptions .......................................................................................................................... 623
Standard Exceptions ................................................................................................ 623
Standard CIP Axis Fault and Alarm Names ....................................................... 629
Rockwell Automation Specific Exceptions ......................................................... 634
Rockwell Automation Specific CIP Axis Fault Names .................................... 636
Rockwell Automation Specific CIP Axis Alarm Names .................................. 637
Chapter 5
Module Configuration Module Configuration Block Attributes .................................................................... 639
Module Class Attributes ................................................................................................. 641
Attributes
Module Axis Attributes .................................................................................................. 642
Module Feedback Port Attributes ................................................................................ 656
Module Timing Attributes............................................................................................. 657
Module Support Attributes ........................................................................................... 659
Index
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 11
Preface
Use this manual to review descriptions of the AXIS_CIP_DRIVE attributes and
the Studio 5000 Logix Designer® application Control Modes and Methods.
It is intended for use as a reference when programming motion applications.
Additional Resources Use the following resources to get additional information concerning related
products and technologies:
Publication Title Description
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.
EtherNet/IP Network Configuration User Manual, Describes Ethernet network considerations, networks, and
publication ENET-UM001 setting IP addresses.
Integrated Architecture® and CIP Sync Configuration Provides detailed configuration information on CIP Sync
Application Technique, publication IA-AT003 Technology and time synchronization.
Integrated Motion on the EtherNet/IP Network Describes how to configure an integrated motion
Configuration and Startup User Manual, publication application and to start up your motion solution by using
MOTION-UM003 the ControlLogix system.
Kinetix® 6200 and Kinetix 6500 Modular Mutli-axis Servo Provides information on how to install, configure, and
Drives User Manual, publication 2094-UM002 troubleshoot applications for your Kinetix 6200 and Kinetix
6500 servo drive systems.
Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Provides information on wiring, configuring, and
Safety Reference Manual, publication 2094-RM001 troubleshooting the safe-speed features of your Kinetix
6200 and Kinetix 6500 drives.
Kinetix 6200 and Kinetix 6500 Safe Torque Off Safety Provides information on wiring, configuring, and
Reference Manual, publication 2094-RM002 troubleshooting the safe torque-off features of your Kinetix
6200 and Kinetix 6500 drives.
Kinetix 5500 Servo Drives User Manual, publication Provides information on install, configure, and troubleshoot
2198-UM001 applications for your Kinetix 5500 drive.
Kinetix 5700 Servo Drives User Manual, publication Provides information on install, configure, and troubleshoot
2198-UM002 applications for your Kinetix 5700 drive.
Kinetix 350 Single-axis EtherNet/IP Servo Drives User Provides information on install, configure, and troubleshoot
Manual, publication 2097-UM002 applications for your Kinetix 350 Single-axis EtherNet/IP
Servo drive.
Kinetix Safe-off Feature Safety Reference Manual, Provides information on wiring and troubleshooting your
publication GMC-RM002 Kinetix 6000 and Kinetix 7000 servo drives with the safe
torque-off feature.
Logix5000™ Motion Controllers Motion Instructions Provides a programmer with details about motion
Manual, publication MOTION-RM002 instructions for motion control.
Logix5000 Controllers Common Procedures, publication Provides detailed and comprehensive information about
1756-PM001 how to program a Logix5000 controller.
Logix5000 Controllers General Instructions Reference Provides a programmer with details about general
Manual, publication 1756-RM003 instructions for a Logix-based controller.
Logix5000 Controllers Advanced Process Control and Drives Provides a programmer with details about process and
Instructions Reference Manual, publication 1756-RM006 drives instructions for a Logix-based controller.
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 13
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.
PowerFlex 750-Series AC Drives Programming Manual, Provides information that is needed to install, start-up, and
publication 750-PM001 troubleshoot PowerFlex 750-Series Adjustable Frequency
AC drives.
PowerFlex 755 Drive Embedded EtherNet/IP Adapter User Provides information on how to install, configure, and
Manual, publication 750COM-UM001 troubleshoot applications for the PowerFlex 755 Drive
Embedded EtherNet/IP adapter.
Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell
publication 1770-4.1 Automation® industrial system.
Rockwell Automation® Product Certifications Provides declarations of conformity, certificates, and other
certification details.
ODVA™ specifications ODVA, is the organization that supports network
technologies that are built on the Common Industrial
Protocol (CIP) — DeviceNet, EtherNet/IP, CompoNet, and
ControlNet.
You can view or download publications at
http://www.rockwellautomation.com/literature . To order paper copies of
technical documentation, contact your local Rockwell Automation distributor or
sales representative.
Legal Notices Copyright Notice
Copyright © 2019 Rockwell Automation Technologies, Inc. All Rights Reserved.
Printed in USA.
This document and any accompanying Rockwell Software products are
copyrighted by Rockwell Automation Technologies, Inc. Any reproduction
and/or distribution without prior written consent from Rockwell Automation
Technologies, Inc. is strictly prohibited. Please refer to the license agreement for
details.
End User License Agreement (EULA)
You can view the Rockwell Automation End-User License Agreement ("EULA")
by opening the License.rtf file located in your product's install folder on your hard
drive.
Other Licenses
The software included in this product contains copyrighted software that is
licensed under one or more open source licenses. Copies of those licenses are
included with the software. Corresponding Source code for open source packages
included in this product can be located at their respective web site(s).
14 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Preface
You may alternately obtain complete Corresponding Source code by contacting
Rockwell Automation via our Contact form on the Rockwell Automation
website:
http://www.rockwellautomation.com/global/about-us/contact/contact.page .
Please include "Open Source" as part of the request text.
The following open source software is used in this product:
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Bootstrap Copyright 2011-2017 Twitter, Inc. MIT License Bootstrap 3.3.7 License
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Botan Copyright 1999-2018 The Botan Authors Botan 2.4 License Botan 2.4 License
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GNU Compiler Copyright 2007 Free Software Foundation, Inc. GNU General Public License GNU General Public License
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Copyright 2007 Free Software Foundation, Inc. GNU Lesser General Public GNU Lesser General Public License v3.0
License v3.0
Copyright 1989, 1991 Free Software Foundation, Inc. GNU General Public License GNU General Public License v2.0
v2.0
Copyright 2000, 2001, 2002, 2007, 2008 Free Software GNU Free Documentation GNU Free Documentation License v3.0
Foundation, Inc. License v3.0
Not applicable Mozilla Public License 1.1 Mozilla Public License 1.1
Copyright 1991-2018 Unicode, Inc. Unicode, Inc. Unicode Inc.
Not applicable BSD 3-Clause BSD 3-Clause
Copyright 1992-2012 The FreeBSD Project BSD 2-Clause BSD 2-Clause
Not applicable Boost Software License 1.0 Boost 1.0 License
Not applicable Creative Commons Creative Commons Attribution 3.0
Attribution 3.0
Copyright 1991-1998, Thomas G. Lane Independent JPEG Group Independent JPEG Group License
License
jQuery Copyright 2005, 2014 JS Foundation and other contributors MIT License jQuery 2.1.1 License
Mark.js Copyright 2014–2018 Julian Kühnel MIT License Mark.js v8.11.1 License
Newlib Copyright 1989, 1991 Free Software Foundation, Inc. GNU General Public License GNU General Public License v2.0
v2.0
Copyright 2000, 2001, 2002, 2007, 2008 Free Software GNU Free Documentation GNU Free Documentation License v3.0
Foundation, Inc. License v3.0
OpenSans Copyright 2017 Google, Inc. Apache License, Version 2.0 OpenSans License
OpenSSL Copyright 1998-2018 The OpenSSL Project OpenSSL OpenSSL_1.0.2o License
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 15
Preface
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
View, FactoryTalk View SE, FLEX Ex, FlexLogix, FLEX I/O, Guard I/O, High
Performance Drive, Integrated Architecture, Kinetix, Logix5000, Logix 5000,
Logix5550, MicroLogix, DeviceNet, EtherNet/IP, PLC-2, PLC-3, PLC-5,
PanelBuilder, PowerFlex, PhaseManager, POINT I/O, PowerFlex, Rockwell
Automation, RSBizWare, Rockwell Software, RSEmulate, Historian,
RSFieldbus, RSLinx, RSLogix, RSNetWorx for DeviceNet, RSNetWorx for
EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000
Automation Engineering & Design Environment, Studio 5000 View Designer,
SCANport, SLC, SoftLogix, SMC Flex, Studio 5000, Ultra 100, Ultra 200,
VersaView, WINtelligent, XM, SequenceManager are trademarks of Rockwell
Automation, Inc.
Any Rockwell Automation logo, software or hardware product not mentioned
herein is also a trademark, registered or otherwise, of Rockwell Automation, Inc.
Other Trademarks
CmFAS Assistant, CmDongle, CmStick, CodeMeter, CodeMeter Control
Center, and WIBU are trademarks of WIBU-SYSTEMS AG in the United States
and/or other countries.
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. The instructions in
this document do not cover all the details or variations in the equipment,
procedure, or process described, nor do they provide directions for meeting every
possible contingency during installation, operation, or maintenance. This
product’s implementation may vary among users.
This document is current as of the time of release of the product; however, the
accompanying software may have changed since the release. Rockwell Automation,
Inc. reserves the right to change any information contained in this document or
the software at any time without prior notice. It is your responsibility to obtain the
16 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Preface
most current information available from Rockwell when installing or using this
product.
Environmental Compliance
Rockwell Automation maintains current product environmental information on
its website at
http://www.rockwellautomation.com/rockwellautomation/about-us/sustainabili
ty-ethics/product-environmental-compliance.page
Contact Rockwell
Customer Support Telephone — 1.888.382.1583
Online Support — http://www.rockwellautomation.com/support/
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 17
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 Motion Control Modes on page 20 for a reference for the Motion Control
Modes and Motion Control Methods that explains when you can use an axis
attribute in an individual control mode.
To learn about how the different control modes function with attributes review
the diagrams provided in Behavior models used in CIP Motion on page 31.
The Control Modes table lists the Motion Axis Attributes specific to the CIP
Drive data type. The table identifies the attribute implementation rule as either
Required, Optional, or Conditional. Drive replicated attributes are identified also.
Review the Interpret the Attribute Tables on page 93 section for an explanation of
how the data for the attributes are organized.
CIP Axis Attributes cover a wide range of drive types. The CIP Axis Attributes on
page 259 topics contain:
• Detailed attribute definitions
• Configurations
• Status
• Faults
Each attribute is in a table that includes information about:
• Usage
• Access
• Data type
• Default, minimum, and maximum values
• Semantics of values
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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 on page 639.
Integrated Motion Axis The Motion Control Axis Object covers the behavior of various motion control
system devices that includes feedback devices, drive devices, standalone
Control Modes and Methods regenerative and non-regenerative converters, and motion I/O devices. For drive
devices, the Motion Control Axis Object covers a wide range of drive types from
simple variable frequency (V/Hz) drives, to sophisticated position control servo
drives, with or without integral converters. Many commercial drive products have
axes that can be configured with instructions to operate in any one of these
different motion control modes depending on the specific application
requirements.
Based on the variations in Motion Control Mode and Motion Control Method, a
set of basic Device Function Codes have been defined that help organize the many
attributes of the Motion Control Axis. Each attribute has a unique identifier (ID).
See also
Motion Control Modes on page 20
Motion Control Methods on page 27
Motion Instruction Compatibility on page 29
Device Function Codes on page 97
Identify Motion Axis Attributes Based on Device Function Codes on page
102
Motion Control Modes Motion control modes are organized around the general philosophy that position
control is the highest form of dynamic control. That is, position control implies
velocity control, and velocity control implies acceleration control.
Acceleration is related to torque or force by the inertia or mass of the load;
respectively, acceleration control implies torque control. Because motor torque or
force is generally related to motor current by a torque or force constant,
respectively, torque control implies current control. The torque or force constant
can be a function of the motor magnets as in a Permanent Magnet motor, or the
induced flux of an Induction motor.
Because acceleration, torque/force, and current are generally related by a constant,
these terms are sometimes used interchangeably in the industry. For example, a
torque control loop rather than a current control loop. Motion Control Axis
Attributes let you differentiate between these control properties. This is useful
when the relationship between them is not static, such as when inertia/mass
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changes with position or time, or when the torque/force constant changes due to
temperature change or motor flux variation.
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
• V - Velocity Control Mode
• T - Torque Control Mode
• F - Velocity Control Mode
Motion Control Nomenclature
Linear and rotary control applications can affect the control nomenclature. While
rotary applications speak of torque and inertia, linear applications speak of force
and mass. When we refer to rotary nomenclature, the defined behavior can
generally be applied to linear applications by substituting the terms, force for
torque and mass for inertia. With that understanding, we use torque rather than
force in the control mode diagrams without loss of generality.
See also
Position Control Mode on page 21
Velocity Control Mode on page 23
Torque Control Mode on page 26
No Control Mode on page 26
Position Control Mode In Position Control application mode either the application control program
(command execution function) or the motion planner (move trajectory control
function) provide a setpoint value to the CIP Motion device using the cyclic data
connection. The Position Control method can be either open loop or closed loop.
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Open Loop Position Control Method
A device configured for open loop position control applies to a class of drive
devices called stepper drives. This type of drive is illustrated below.
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. A position servo drive
implies an inner velocity and torque control loop as shown in following diagram.
The presence of the torque/current control loop sometimes results in this kind of
drive being referred to as a vector drive.
A feedback device for this configuration is generally required to achieve good
positioning accuracy. The feedback device can also be used to return Actual
Velocity and Actual Acceleration data to the controller using the cyclic data
connection.
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In addition to Command Position, the controller can pass Command Velocity
and Command Acceleration for the purposes of forward control.
See also
Motion Control Modes on page 20
Velocity Control Mode In Velocity Control application mode the application control program and
motion planner provide a setpoint value to the CIP Motion device using the cyclic
data connection. The velocity control method can be either open loop or closed
loop.
Open Loop Velocity Control Method
A motor control device configured for open loop velocity control is traditionally
referred to as Variable Frequency, or V/Hz, or VFD, drive. This type of drive is
illustrated below.
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.
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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. A closed loop velocity
control drive implies an inner torque/current control loop and therefore is
sometimes referred to as a vector drive.
A feedback device for the velocity loop drive configuration is optional. You can
achieve tighter speed regulation when using a feedback device, particularly at low
speed. When the feedback device is included it may be used to return actual
position, velocity, and acceleration data to the controller using the cyclic data
connection. When the feedback device is not included, only estimated velocity can
typically be returned to the controller.
In addition to Command Velocity, the controller can also pass Command
Acceleration for the purposes of forward control.
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Acceleration Control Method
While not a mainstream control mode in the industry nor mentioned in the IEC
standard, the acceleration control mode is included here to complete the dynamic
progression from velocity control to torque control and because the Motion
Control Axis Object can support an Acceleration Command, potentially derived
from the controller's motion planner. In the acceleration control mode, the
application control program and motion planner provide acceleration set-point
values to the CIP Motion device using the cyclic data connection. The drive
converts the acceleration set-point into a torque command using the estimated
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.
See also
Motion Control Modes on page 20
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Chapter 1 Integrated Motion on the EtherNet/IP Network
Torque Control Mode In Torque Control application mode, the application control program or the
motion planner provide torque setpoint values to the device using the cyclic data
connection. Because motor current and motor torque are generally related by a
torque constant, Kt, torque control is often synonymous with current control.
A position feedback device for this control mode is optional. If a feedback device is
present it can be used to return actual position, velocity, and acceleration data to
the controller using the cyclic data connection.
See also
Motion Control Modes on page 20
No Control Mode The Motion Control Axis Object supports a No Control application mode where
there is no 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. This mode could also be applied to integrated CIP Motion
Encoder device types where the CIP Motion interface is applied directly to an
Encoder.
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In this No Control mode of operation, no command value is supplied to the CIP
Motion device using the cyclic data connection, but actual position, velocity, and
acceleration can be produced by the device to the controller using the cyclic data
channel, if applicable. The No Control mode for Feedback Only functionality is
illustrated in the following diagram:
No Control (Feedback Only)
No Control mode also applies to other CIP Motion device types, such as
standalone Bus Power Converters and dedicated Motion I/O device types. Since
there is no feedback channel that is associated with these device types, no actual
position is returned to the controller.
See also
Motion Control Modes on page 20
Motion Control Methods Within this basic motion control paradigm, there is latitude for different control
methods, both closed loop and open loop. By closed loop, it is implied that there is
a feedback signal that is used to drive the actual dynamics of the motor to match
the commanded dynamics by servo action.
In most cases, there is a literal feedback device to provide this signal, and in some
cases the signal is derived from the motor excitation, for example,
sensorless/encoderless operation.
By open loop, it is implied that there is no application of feedback to force the
actual dynamics to match the commanded dynamics. While precision and
performance are the hallmarks of closed loop control, simplicity and economy are
the hallmarks of open loop control.
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.
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Control Method Filed Enumeration Definitions
Enumeration Usage Name Description
0 R/N No Control No Control is associated with a Control Mode of No
Control where there is no explicit motor control that is
provided by the device for this axis instance.
1 R/F Frequency Control Frequency Control is an "open loop" control method that
applies voltage to the motor, generally in proportion to
the commanded frequency or speed. This control
method is associated with Variable Frequency Drives
(VFDs) or so called Volts/Hertz drives.
2 R/C PI Vector Control PI Vector Control is a "closed loop" control method that
uses actual or estimated feedback for closed loop
cascaded PI control of motor dynamics, that is, position,
velocity, acceleration, and torque, and always includes
independent closed loop PI control of Iq and Id
components of the motor current vector.
3...127 - Reserved -
128...255 - Vendor Specific -
Axis configuration
The Control Mode and Control Method are derived by the Axis Configuration
according to the following table.
Axis Configuration Valid Control Modes
Non-Regenerative AC/DC Converter No Control
Regenerative AC/DC Converter No Control
Low Harmonic AC/DC Converter No Control
DC/DC Converter No Control
Feedback Only No Control
Frequency Control Velocity Control
Position Loop Position Control
Velocity Control
Torque Control
Velocity Loop Velocity Control
Torque Control
Torque Loop Torque Control
See also
Motion Control Modes on page 20
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Motion Instruction The following table correlates the motion instructions with the compatible
control modes. The compatibility with integrated motion is based on the Axis
Compatibility
Configuration and feedback type settings. The motion instructions tables are
divided by type.
Use the following key to interpret the column entries:
Symbol Meaning
x Control mode is compatible.
# MSO and MDS execution initiate mutually exclusive modes of operation and execution is conditional on
mode.
* Axis may be used as a master axis reference only for this instruction.
c Axis may conditionally use Motion Planner instructions if enabled with MSO instruction, otherwise, it
errors.
Shaded areas denote that Multi-Axis Coordination Motion is designed and tested for position mode
operation but not specifically restricted to that axis configuration.
Category Motion Instruction Name Abbr. Feedback Freq.Cntrl Pos. Vel. Loop Vel. Loop Torque
Only No Feedback Loop Feedback No Feedback Loop
State Control Motion Direct Drive On MDO
Motion Direct Drive Off MDF
Motion Servo On MSO # x # # #
Motion Servo Off MSF x x x x x
Motion Axis Fault Reset MAFR x x x x x x
Motion Axis Shutdown MASD x x x x x x
Motion Axis Shutdown Reset MASR x x x x x x
Motion Drive Start MDS # # # #
Event Control Motion Arm Watch Position MAW x x x x
Motion Disarm Watch Position MDW x x x x
Motion Arm Registration MAR x x x x
Motion Disarm Registration MDR x x x x
Motion Arm Output Cam MAOC x x x x
Motion Disarm Output Cam MDOC x x x x
Move Control Motion Redefine Position MRP x c x c c c
Motion Axis Home MAH x x c c
Motion Axis Jog MAJ c x c c
Motion Axis Move MAM c x c c
Motion Change Dynamics MCD c x c c
Motion Axis Stop MAS x x x x x x
Motion Axis Gear MAG * c x c c *
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Category Motion Instruction Name Abbr. Feedback Freq.Cntrl Pos. Vel. Loop Vel. Loop Torque
Only No Feedback Loop Feedback No Feedback Loop
Motion Master Driven Axis Control MDAC * c x c c *
Motion Axis Position Cam MAPC * c x c c *
Motion Axis Time Cam MATC c x c c
Multi-Axis Coordinate Motion Coordinated Linear Move MCLM c x c c
Motion Coordinated Circular Move MCCM c x c c
Motion Coordinated Stop MCS x x x x x x
Motion Coordinated Shutdown MCSD x x x x x x
Motion Coordinated Shutdown Reset MCSR x x x x x x
Motion Coordinated Change Dynamics MCCD c x c c
Motion Coordinated Transform MCT c x c c
Motion Calculate Target Position MCTP x c x c c x
Motion Master Driven Coordinated Control MDCC * c x c c *
Motion Configuration Motion Run Axis Tuning MRAT x x x
Motion Apply Axis Tuning MAAT
Motion Run Hookup Diagnostic MRHD x x x x x x
Motion Apply Hookup Diagnostic MAHD
Group Control Motion Group Strobe Position MGSP x x x x x x
Motion Group Shutdown MGSD x x x x x x
Motion Group Shutdown Reset MGSR x x x x x x
Motion Group Stop MGS x x x x x x
See also
Control Modes on page 20
Control Methods on page 27
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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 on page 31 Motor Attributes Model on page 64
Command Generation Behavior on page 34 Position Control Behavior on page 65
Current Control Behavior on page 41 State Behavior on page 68
Event Capture Behavior on page 44 Torque Control Behavior on page 78
Fault and Alarm Behavior on page 47 Velocity Control Behavior on page 86
Motion Control Axis Behavior Model on page 57
See also
Standard Exceptions on page 623
Interpret the Attribute Tables on page 93
Acceleration Control While dynamic motor control through an acceleration command is not common
in the industry, Acceleration Control completes the dynamic progression from
Behavior Velocity Control to Torque Control. The output of the velocity loop, Velocity
Loop Output, also has units of acceleration. The sum the contributions of the
Acceleration Command, Acceleration Trim, and Velocity Loop Output to form
the Acceleration Reference signal that serves as one of the primary inputs to
Torque Control behavior. Acceleration Control can optionally include a Load
Observer to compensate for mechanical backlash, mechanical compliance, and
various load disturbances.
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The following diagram provides an overview of the Acceleration Control behavior
model, including the Load Observer.
See also
Acceleration Limiter on page 32
Load Observer on page 33
Acceleration Limiter The output of the acceleration command summing junction signal passes through
a limiter to produce the Acceleration Reference signal. The Accel Limiter applies a
directional acceleration limit, either the Acceleration Limit or the Deceleration
Limit, to the input command signal based on the sign of the signal.
The following diagram illustrates this process.
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See also
Load Observer on page 33
Acceleration Control Behavior on page 31
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.
The Load Observer's effectiveness in this regard can be thought of as a result of the
observer adding virtual inertia to the motor. When the observer is enabled, it
functions as an inner feedback loop, like the current loop, but unlike the current
loop in that the observer's control loop includes the motor mechanics.
Due to the work of the Load Observer, variations in load inertia, mass, and even
the motor's torque/force constant can be nearly eliminated as seen by the velocity
loop. In fact, because the Load Observer includes the Acceleration Reference
signal as an input, it can provide a velocity estimate signal that has less delay than
the velocity feedback estimate generated by the actual feedback device. Thus,
applying the Load Observer's velocity estimate to the velocity loop can be used to
improve the performance of the velocity loop.
Acceleration Feedback Selection
Feedback to the Load Observer can be derived from either Feedback 1 or
Feedback 2. Which feedback source is used by the loop is governed by the
Feedback Mode. In general, the Load Observer works best when by using a high
resolution feedback device.
Acceleration and Torque Estimates
The output of the Load Observer is the Acceleration Estimate signal that is
subsequently applied to the acceleration reference summing junction. When
configured for Load Observer operation, the Acceleration Estimate signal
represents the error between the actual acceleration. The signal is seen by the
feedback device and the acceleration is estimated by the Load Observer. This is
based on an ideal model of the motor and load.
By subtracting the Acceleration Estimate signal from the output of the
Acceleration Limiter, the Load Observer is forcing the actual motor and load to
behave like the ideal model, as seen by the velocity loop. The Acceleration
Estimate signal can be seen as a dynamic measure of how much the actual motor
and load are deviating from the ideal model. Such deviations from the ideal motor
model can be modeled as torque disturbances. Scaling the Load Observer
Acceleration Estimate signal by the System Inertia results in the Load Observer
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Chapter 2 Behavior models used in CIP Motion
Torque Estimate signal. This signal represents an estimate of the motor torque
disturbance.
When configured for Acceleration Feedback operation, the Load Observer
Acceleration Estimate represents an acceleration feedback signal. Applying this
signal to the acceleration reference summing junction forms a closed acceleration
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. Standard Load Observer function is enabled by selecting
the Load Observer Only.
In addition, the Load Observer's estimated velocity signal can be applied as
feedback to the velocity loop by selecting Load Observer with Velocity Estimate or
Velocity Estimate Only. Selecting Acceleration Feedback degenerates the Load
Observer to an acceleration feedback loop by disconnecting the Acceleration
Reference input from the observer. The observer's velocity estimate is not available
in this mode of operation.
See also
Acceleration Control Behavior on page 31
Torque Control Behavior on page 78
Velocity Control Behavior on page 86
Command Generation Command Generation includes these behaviors:
Behavior • Command Data Sources
• Command Fine Interpolation
• Command Ramp Generator
• Feedforward Signal Selection
• Command Notch Filter
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The following diagram illustrates the interaction command generation behavior:
See also
Command Data Sources on page 35
Command Fine Interpolation on page 36
Command Ramp Generator on page 39
Feedforward Signal Selection on page 40
Command Notch Filter on page 41
Command Data Sources Command data that impacts axis motion can come from a variety of sources. The
most common command data source is from a controller-based Motion Planner
using the CIP Motion C-to-D Connection. In this context, command data can
take the form of Controller Position, Velocity, Acceleration, and Torque
Commands generated by the Motion Planner. The command data elements
provided are specified by the Command Data Set attribute, which is based on the
selected Control Mode. The primary command data element can be augmented by
higher order command elements for the purposes of generating high quality
feedforward signals. Alternatively, these higher order command elements can be
derived by the device from the primary command data. In either case, a Fine
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Chapter 2 Behavior models used in CIP Motion
Command Interpolator is generally applied to the Command Data to generate
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. These features include support for electronic
gearing, camming, moves, and jogs. Through use of the CIP Motion peer-to-peer
connection, the gearing and camming functions can be directly linked to a master
axis command reference from a producing peer device for high performance
line-shafting applications. Alternatively, the master axis command reference can be
derived from a local motion axis instance. To facilitate these features, the Motion
Planner also supports the ability to establish an absolute position reference to the
machine through homing and redefine position operations as well as perform
rotary unwind functionality. The device's Motion Planner is controlled by CIP
service requests.
Command Data, such as the Controller Velocity Command, can be set directly by
the user. In this context, the device must apply its own Ramp Generator function
to smoothly accelerate or decelerate the motor to the commanded velocity.
See also
Command Generation Behavior on page 34
Command Fine Interpolation For synchronized, high-performance applications using CIP Motion, command
data is received from the CIP Motion C-to-D Connection or the device's local
Motion Planner, and based on the connection's Command Target Update
element being set to 'Interpolate', processed by the Fine Interpolator functionality
of the Command Generator.
The job of the Fine Interpolator is to compute coefficients to a trajectory
polynomial that is designed to reach the command data at its associated
Command Target Time. Depending on the specific command data element, the
trajectory can follow a 1st, 2nd, or 3rd order polynomial trajectory with initial
conditions based on current axis dynamics.
Because the polynomial is a function of time, a new fine command value can be
calculated any time the CIP Motion device needs to perform a control calculation.
As a result, it is not necessary that the device's control calculation period be
integrally divisible into the Controller Update Period.
To improve device interchangeability, a minimum order for the fine interpolators
is recommended. Because contemporary Motion Planners typically generate their
trajectories based on 3rd order polynomials in position, it is important that the fine
interpolators reproduce these trajectories with high fidelity. Therefore, the
position fine interpolator is defined as 3rd order, the velocity interpolator is 2nd
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order, and the acceleration and torque interpolators are both 1st order. Higher
order fine interpolators are possible and are left to the device vendor's discretion.
The following table provide a reference to the polynomial equations:
Interpolator name Equation
Position Fine Interpolation Polynomial P(t) = a 0 + a 1 * (t-t 0 ) + a 2 * (t- t 0 )2 + a 3 * (t-t 0 )3
Velocity Fine Interpolation Polynomial V(t) = b 0 + b 1 * (t-t 0 ) + b 2 * (t- t 0 )2
Acceleration Fine Interpolation Polynomial A(t) = c 0 + c 1 * (t-t 0 )
Torque Fine Interpolation Polynomial T(t) = d 0 + d 1 * (t-t 0 )
In these equations, time (t0), represents the Command Target Time for the
previous Motion Planner update such that when t = t0, the position (P), velocity
(V), acceleration (A), and torque (T) command values are equal to the values sent
in the previous Motion Planner update, for example, P–1, V–1, A–1, and T–1. This
establishes the 0th order coefficients of the polynomials.
• P(t 0 ) = P –1 = a 0
• V(t 0 ) = V –1 = b 0
• A(t 0 ) = A –1 = c 0
• T(t 0 ) = T –1 = d 0
The higher order polynomial coefficients are calculated such that by the next
Motion Planner update, corresponding to Command Target Time, t1, the
position, velocity, acceleration, and torque command values are the values sent in
the latest Motion Planner update, for example, P0, V0, A0, and T0.
• P(t 1 ) = P 0
• V(t 1 ) = V 0
• A(t 1 ) = A 0
• T(t 1 ) = T 0
Using the above polynomial interpolation equations, the CIP Motion device can
compute position, velocity, acceleration, and torque command values at any time
by plugging in the current System Time value of the device into the variable, t.
This allows the device's control calculation to be performed according to a
schedule that is independent of the controller's update schedule.
One thing that must be done, however, is to adjust the Command Target Time, t0,
if there is a shift in the System Time Offset for the device; t0 and t are always based
on the same System Time reference system. For example, assume the device's
System Time Offset when the control command timestamp, t0, was received as
Offset0. If the command interpolation equation is to be applied at t= t1 and the
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Chapter 2 Behavior models used in CIP Motion
current System Time Offset is defined as Offset1, then t0 is adjusted as follows
before executing the polynomial:
• Adjusted t 0 = t 0 + (Offset 1 – Offset 0 )
Alternatively, the values for t, t0, and t1 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.
The polynomial coefficients are computed based on standard formulas that are a
function of the history of command values over the last few updates. The number
of historical command values used in the formula depends on the order of the
polynomial. For example, the 3rd order command position polynomial uses the
three previous command position values. For convenience, the interpolator
polynomial coefficient formulas are provided in the following table:
Coefficient name Equations
Position Fine Interpolation Polynomial a 0 = P -1
Coefficients a 1 = 1/T * (∆P 0 - 1/2*∆V 0 - 1/6*∆A 0 )
a 2 = 1/T2 * (1/2*∆V 0 )
a 3 = 1/T3 * (1/6*∆A 0 )
Velocity Fine Interpolation Polynomial b 0 = V -1
Coefficients b 1 = 1/T * (V- 1/2*∆A 0 )
b 2 = 1/T2 * (1/2*∆A 0 )
Acceleration Fine Interpolation Polynomial c 0 = A -1
Coefficients (Torque is same form as Accel) c 1 = 1/T * ∆A 0
These equations are based on the following nomenclature:
T = Controller Update Period
∆P 0 = (P 0 - P -1 )
∆V 0 = (V 0 - V -1 ) = (P 0 - 2P -1 + P -2 )
∆A 0 = (A 0 - A -1 ) = (V 0 - 2V -1 + V -2 ) = (P 0 - 3P -1 + 3P -2 - P -3 )
The preceding polynomial coefficients should be applied to the fine interpolator as
soon possible after t is equal to or greater than t0. Applying the new coefficients
too early, for example, with significantly less than t0, can create unnecessary error
in the command trajectory when connecting the last fine interpolator segment to
the new fine interpolator segment at t0.
When t > t1, the fine interpolation polynomial becomes an extrapolation
polynomial. In the absence of a fresh update from the Motion Planner, the
extrapolation polynomial can be used to provide estimated command data to the
device control structure until fresh Motion Planner command data is available.
Once fresh command data is made available, new polynomial coefficients are
computed and applied without delay. In this way, the motion control can
'ride-through' occasionally late or with lost connection data packets resulting in a
robust distributed motion control network solution. To be clear, late connection
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Behavior models used in CIP Motion Chapter 2
data is always applied and never thrown away; late data still represents the freshest
data available from the controller and the extrapolation polynomial ensures that
the command data is applied in such a way as to maintain a smooth motion
trajectory despite variations in command data delivery.
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. When fine interpolation is used, the planner
adds additional planner update periods to the planner time stamp, so it is
advantageous to eliminate this planner update period delay if interpolation is not
necessary.
Even though fine interpolation may not be necessary in some cases, it does not
mean that the command data is to be applied directly to the device's control
structure. It still may be necessary to calculate the above polynomials so the device
can extrapolate the command value when the device's control update occurs. That
is because, in general, the device's control update time stamp does not need to
match the time stamp of the command data.
Finally, there are applications and CIP Motion device types that do not require
the dynamic accuracy that time-stamped interpolation and extrapolation provide.
Various velocity and Torque Control applications, for example, may fall in this
category. In general, command data can also be applied to the control structures of
Variable Frequency drives without interpolation or extrapolation.
See also
Command Generation Behavior on page 34
Command Ramp Generator When operating in Closed Loop Velocity mode, the Ramp Generator feature of
the Velocity Fine Command Generator block is applied to the Controller
Velocity Command value sent by the controller when the Command Target
Update element of the connection is set to 'Immediate' mode. In Immediate
mode, the Command Data is applied immediately to the device's control
structure. Because there is generally no Motion Planner generating the Command
Data in this mode, the Command Data value from the controller can change
drastically from one update to the next. To address this condition, a Ramp
Generator function is needed to ramp the motor to the new Command Data value
within the dynamic limitations of the system. As an example of if the Controller
Velocity Command value suddenly changed from 0…30 revolutions per second in
Immediate Mode, the Ramp Generator would produce a Fine Velocity Command
signal that accelerates the motor to the Controller Velocity Command value based
on the configured Ramp Acceleration and Jerk Control attribute values. The
Ramp Jerk Control attribute determines what percentage of the acceleration or
deceleration ramp is S-Curve with the remaining portion of the ramp governed by
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Chapter 2 Behavior models used in CIP Motion
the fixed Ramp Acceleration or Deceleration attribute values. If the Command
Target Update element of the connection is not set to 'Immediate', the Ramp
Generator has no impact on the Fine Velocity Command signal.
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.
The Ramp Generator enforces directional velocity limits on the Command Data,
ensuring that the Velocity Command never exceeds the configured Maximum
Velocity Pos/Neg values.
The Ramp Generator also supports Flying Start functionality. When enabling the
drive while the motor is still moving, the Ramp Generator output is initialized to
the current speed of the motor. From there, the Ramp Generator smoothly
accelerates or decelerates the motor to the current Controller Velocity Command.
Finally, the Ramp Generator supports Skip Bands that are most frequently used in
Frequency Control applications when certain speeds excite mechanical resonance
frequencies of the motor and load. The Skip Band feature allows three separate
Skip Speeds to be defined that shift the Velocity Command signal to avoid, or
skip, these problematic speeds. The Skip Speed Band determines the range of
speeds centered on the three Skip Speeds that the device avoids:
• If the Velocity Command is within the Skip Band, but below the Skip
Speed, the Velocity Command output is set to the Skip Speed, minus half
the Skip Speed Band.
• If the Fine Velocity Command is within the Skip Band, but above the Skip
Speed, the Velocity Command output is set to the Skip Speed, plus half the
Skip Speed Band.
When operating in Frequency Control mode, the Skip Band function is integrated
into the Frequency Control system.
See also
Command Generation Behavior on page 34
Feedforward Signal Selection The Fine Command Generators can generate higher derivatives of the command
data input to serve as feedforward signals. The units for the velocity and
acceleration feedforward signals are generally different than the derivative units,
hence the derivative signals are scaled appropriately. Superior signal quality,
however, can be provided by the Motion Planner trajectory generators. The
feedforward selection blocks pick the best feedforward signal to apply based on the
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Behavior models used in CIP Motion Chapter 2
bits set in the Command Data Set attribute. The best signal is defined as the signal
derived by using the fewest differencing operations.
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.
See also
Command Generation Behavior on page 34
Command Notch Filter The position command that results from the command interpolation and
feedforward signals then pass through a position command notch filter. The
purpose of this set of filters is to reduce anti-resonance behavior of a compliant
motor load by filtering out any commanded motion around the anti-resonance
frequency.
See also
Command Generation Behavior on page 34
Current Control Behavior In general, motor torque is controlled by controlling the orientation and
magnitude of the motor stator current vector with respect to the rotor magnetic
flux vector. The Current control loop is responsible for providing this control and
is actually composed of two PI loops, one that controls the torque producing
current, Iq, and one that controls the flux producing current, Id. It is the
quadrature component of current, Iq, that is used for dynamic Torque Control.
In the case of an induction motor, the flux producing current, Id, is solely
responsible for generating rotor flux. In the case of permanent magnet motors,
rotor flux is generated by the rotor magnets and Id is used only in some cases to
extend the speed range of the motor by changing the angle of the stator field
relative to the rotor field. In this case, the angle of Iq relative to the rotor field
remains the same, for example, at quadrature. However, because the vector
combination of Iq and Id determines the stator flux angle relative to the rotor,
increasing amounts of Id can shift the stator flux away from quadrature to extend
the speed range of the motor at the expense of torque.
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Chapter 2 Behavior models used in CIP Motion
The following diagrams show an overview of this behavior model.
See also
Current Vector Limiter on page 42
Voltage Output on page 43
Current Feedback on page 43
Motor Commutation on page 44
Current Vector Limiter The Iq Current Command passes through a Current Vector Limiter before
becoming the Iq Current Reference signal. This limiter computes the combined
vector magnitude of the Iq Current Reference and the Id Current Reference
signals. The resultant current vector magnitude is compared to the Operative
Current Limit that represents the minimum current limit from among a set of
potential current limits of the drive device and motor.
If the vector magnitude exceeds the Operative Current Limit, the Iq Current
Reference is reduced so the vector magnitude equals the Operative Current Limit.
Potential current limit sources can be the Peak Current Limit ratings as well as the
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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. These
limits are active only when the corresponding Motor and Inverter Overload
Action attributes are set to provide current fold-back. The thermal current limits
in this case would decrease as the simulated temperature of the modeled devices
increases. The Bus Regulator Limit is applied only when the motor is regenerating
power onto the DC Bus and is based on the Regenerative Power Limit.
With all these potential current limit sources that could be operative, a Current
Limit Source attribute identifies the source of the active current limit.
See also
Current Control Behavior on page 41
Voltage Output The output of each current loop is scaled by the motor inductance to generate a
voltage command to the vector transformation block. It is the job of the vector
transformation block to transform the torque producing, Vq, and flux producing,
Vd, command signals from the rotating synchronous reference frame to the
stationary stator reference frame. The resultant U, V, and W Output Voltage
values are then applied to the motor by Pulse Width Modulation (PWM). The
PWM Frequency is also a configurable attribute.
The magnitude of the Vq, Vd vector is calculated in real time as the total Output
Voltage signal. The maximum Output Voltage signal that can be applied to the
motor is ultimately limited by the DC Bus Voltage and enforced by the Voltage
Vector Limiter. Any attempt to exceed this value results in an Inverter Voltage
Limit condition.
See also
Current Control Behavior on page 41
Current Feedback Current feedback signals to the current loop are provided by two or three current
sensors. The signals from these sensors are conditioned and corrected for device
specific offsets to become the U, V, and W Current Feedback signals associated
with the stationary motor stator frame. These three signals are transformed back
to the synchronous reference frame to generate the Iq and Id Current Feedback
signals. The magnitude of the Iq, Id current vector is calculated in real-time and
used as an input to the thermal models for the inverter and motor.
See also
Current Control Behavior on page 41
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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. Once the
feedback device is calibrated to the absolute orientation of the rotor by using the
Commutation Offset attribute, the commutation block can then generate the true
Electrical Angle of the rotor. This signal is used to perform the vector transforms
between the rotary and stationary motor frames and can also be used for any other
algorithms that require knowledge of rotor position.
See also
Current Control Behavior on page 41
Event Capture Behavior Event capture behavior captures both the feedback position and time stamp
associated with specific state transitions of selected event input sources.
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The following diagram provides an overview of the event capture behavior model.
See also
Event Input Sources on page 46
Event Latches on page 46
Event Time Stamps on page 47
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Chapter 2 Behavior models used in CIP Motion
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
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 on page 44
Event Latches To facilitate accurate capture of both feedback position and time, hardware event
latches are typically implemented.
Two independent latches are defined for each registration input, one latch to
capture positive edge transition events and one to capture negative edge transition
events. This design enables capture of both registration events in applications with
narrow registration pulses where the rising and falling edges occur nearly
simultaneously.
In addition to the registration latches, a separate latch is also defined for the home
event capture. The home input event that triggers the Home Event Latch can be
any of a number of different combinations of home switch and marker input
events, for example, marker transitions, switch transitions, or switch transitions
followed by a marker transition.
With hardware-based event latches, event capture accuracy is, in general, only
limited by the latency of the associated event input. Registration and Marker event
inputs are lightly filtered so event capture accuracy is on the order of 1
microsecond (µsec). In terms of position capture accuracy, that would be
calculated as the product of the event capture accuracy and the speed of the axis.
Home switch inputs are heavily filtered, in general, and therefore limited to an
event capture accuracy of 1 to 10 millisecond (msec). Thus, to get an accurate
position capture based on a home switch input transition, a homing sequence with
a slow homing speed is required.
See also
Event Capture Behavior on page 44
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Event Time Stamps Because the registration time stamp is passed to the controller as part of the Event
Notification data, the controller can apply the event time stamp to the position
history of other axes in the system to interpolate their positions. This is
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 on page 44
Fault and Alarm Behavior The fault and alarm handling functionality addresses both the need for a large and
ever-expanding number of specific faults and alarms, the need for programmable
actions, and the need for timely reporting of those faults and alarms to the
controller. Additionally, no compromises are made to restrict the resolution of the
reported faults and alarms, so that the controller always has access to the unique
axis condition and a meaningful diagnosis. Numerous Fault and Alarm related
attributes can be included in the fixed portion of the cyclic Device-to-Controller
Connection so the controller can monitor the condition of the axis in real-time,
without cumbersome polling.
The CIP Axis Status attribute contains bits to indicate whether an alarm
condition is present. The CIP Axis State enumeration indicates when the axis has
a major fault, which could be a regular runtime CIP Axis Fault, Safety Fault, or an
Initialization Fault. The Axis Fault Code and related attributes are used to report
the specific fault condition, time stamp, and fault action to the controller for the
purposes of building a fault log.
See also
State Behavior on page 68
Exceptions on page 47
Absolute Position Recovery on page 49
CIP Axis Status Attributes on page 315
Exception, Fault and Alarm Attributes on page 405
Exceptions Exceptions are runtime conditions that the device continually checks that might
indicate improper behavior of the axis or operation outside of an allowable range.
An exception can result in an alarm, a minor fault, or a major fault, depending on
how the associated Axis Exception Action has been configured – an exception can
even be configured to be ignored. Exceptions are automatically cleared by the
device when the underlying exception condition is no longer present.
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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 axis all the way to taking no action at
all. The CIP Axis Faults attribute allows the controller to have immediate access to
any exceptions that have been configured to generate a major or minor fault. The
CIP Axis Alarms attribute allows the controller to have immediate access to any
exceptions that have been configured to be reported as alarms.
Alarms
Alarms are runtime exception conditions for which the device is to take no action
other than to report as an alarm. Alarms and warnings, therefore, are basically
synonymous. On a given device product, some exception conditions may not be
able to simply be reported as an alarm without any associated action; for example
an IPM fault in which the power module automatically shuts off without software
intervention. Alarm conditions are automatically cleared when the underlying
exception condition is no longer present.
Faults
Faults can be initialization faults, configuration faults, safety faults, module faults,
group faults, motion faults, or runtime exception conditions that the axis has been
configured to regard as a fault. Fault conditions can occur in either the controller
or motion device. If a runtime fault occurs during an operational state, for
example, Running or Testing, it will result in the device stopping (or aborting) all
axis motion, either automatically or programmatically. Fault conditions ultimately
transition the axis state to the Faulted state. A Fault that results from an exception
condition is latched, and does not clear when the exception condition clears. A
fault can only be cleared with a Fault Reset. If the fault condition is classified as an
'unrecoverable fault', only a power cycle or a device reset can clear the fault
condition.
Start Inhibit Behavior
A Start Inhibit is a condition that inhibits the axis from starting, i.e. transitioning
to the Starting state for enabled axis operation. This condition does not generate
an exception if a start attempt is made. If the circumstances that led to the Start
Inhibit are no longer present, the start inhibit condition is automatically cleared
by the device, returning the axis to the Stopped State.
If the axis is in the Start Inhibit state it indicates that one or more conditions are
present that prevent the axis from transitioning to enabled operation. The Start
Inhibits attribute reports the specific condition that is inhibiting the axis.
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See also
Motion Control Axis Behavior Model on page 57
State Behavior on page 68
Fault and Alarm Behavior on page 47
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.
Absolute position is established by a homing procedure initiated by successful
execution of an MAH instruction. Once the homing procedure has successfully
established a machine reference, the Axis Homed bit is set in the Motion Status
attribute, indicating that actual position and command position now have
meaning with respect to the associated machine.
It is good application programming practice to qualify dynamic machine operation
with the Axis Homed bit being set. Otherwise, absolute moves to a specific
position may not have any relationship to the position of the axis on the actual
machine.
Since the homing procedure usually requires the machine to be taken offline and
placed in a manual operating mode, for example, not making product, anything
that would require you to rehome one or more axes on the machine is undesirable.
This is downtime and costs money. The APR feature maintains the machine
reference or absolute position through power cycles, program downloads, and even
firmware updates.
Absolute Feedback Device
The absolute feedback device lets absolute position to be retained through a power
cycle. These devices take various forms, but they all are capable of maintaining
absolute feedback position while power to the drive and to the feedback device is
off.
When power is turned back on, the drive reads the feedback referenced absolute
position from the feedback device and, by applying a saved absolute offset to this
absolute feedback position, the motion control system can recover the machine
referenced absolute position.
Most drive products provide this capability. But what happens if the drive is
swapped out, or the drive firmware is updated? Absolute Position is generally lost.
CIP Motion lets you recover the absolute position not only through power cycles,
but also program downloads, and even firmware updates.
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Chapter 2 Behavior models used in CIP Motion
SERCOS versus CIP
For a SERCOS axis with absolute feedback, the drive scaling function and
absolute position is maintained in the drive and therefore may be easily restored in
the control after a power cycle or download of a new project by simply reading the
position from the drive.
By contrast, a CIP Motion axis supports controller based scaling where absolute
position is maintained in the controller’s firmware. Without the work of the APR
feature, absolute position would be lost after a power cycle or project download.
See also
APR Fault Conditions on page 50
APR Fault Examples on page 53
APR Fault Generation on page 51
APR Fault Attributes on page 376
Absolute Position Loss without APR The Absolute Position Recovery is not retained after the following:
Faults
• A project is exported, saved as a .L5K or .L5X, and imported (downloaded).
• A major non-recoverable fault (MNRF).
• A power loss.
• 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.
• Power cycling of an incremental encoder.
See also
Absolute Position Recovery on page 49
APR Recovery Scenarios on page 54
APR Fault Examples on page 53
APR Fault Conditions Absolute Position Recovery (APR) faults are generated during these events and
when one of the conditions defined below occurs.
In order for an APR Fault to occur, the axis must be in the homed state. The Axis
Homed Status Bit must be set.
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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. This creates an Axis Feedback Serial
Number mismatch.
Axis Feedback Mode has changed, for example, axis with feedback changed to axis
without feedback or vice versa and downloaded to the controller.
• A user program is downloaded.
• A user program and tags are restored from CompactFlash card.
• Manual Restore
• Power up restore, when configured
• Firmware is updated using ControlFLASH.
• An SSV to change:
• Feedback Polarity or
• One of the attributes which results in a change to the Motion
Resolution attribute.
See also
APR Fault Generation on page 51
APR Fault Attributes on page 376
APR Fault Generation APR Faults can be generated:
• During initial axis configuration.
• During operation
• When the system fails to recover the absolute position after a power cycle,
reset, or a reconnection.
APR faults are detected during these online scenarios.
• Initial configuration (download)
• Reconnection of the drive axis
• Change in any of the axis attributes which impacts the absolute machine
position.
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Chapter 2 Behavior models used in CIP Motion
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.
A download, restore from a CompactFlash card, a restore from a Secure Digital
Card, or a ControlFLASH firmware update after one of these events causes the
APR fault.
• Axis Configuration
• Attribute Changes
• Offline edits of the axis attributes or configuration does not cause an
APR fault until after download occurs.
• Online edits of certain attributes will result in an immediate APR fault.
Changing the axis feedback device or feedback polarity without
downloading the project will also generate an immediate APR fault.
• Axis hardware change or malfunction
• Axis hardware resource insufficiency
• Hardware resource insufficiencies are only detected during download
or ControlFLASH firmware update and will result in an APR fault.
During axis configuration, the following checks are made:
1. Existing Axis?
2. Scaling Signature matches saved Scaling Signature?
3. Feedback Signature matches saved Feedback Signature?
If these three checks pass, generally absolute position is restored.
During operation, the system monitors the following conditions:
1. Feedback Integrity Status bit cleared?
2. Scaling Signature dependent attribute values changed by SSV?
Changes to the following attributes do not impact the Scaling Signature or result
in the loss of the absolute machine reference and therefore do not generate an
APR Fault.
• Conversion Constant
• Position Unwind
• Travel Mode
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Behavior models used in CIP Motion Chapter 2
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.
If the Axis Homed status bit is clear, indicating that position has not been
absolutely referenced to the machine, the APR function is bypassed and there is no
attempt to restore absolute position.
See also
APR Fault Attributes on page 376
APR Fault Examples on page 53
APR Fault Examples Scaling
Changing the Scaling parameters can potentially generate an APR fault because
internal constants computed from these two parameters may generate a motion
resolution change. If this happens, an APR fault is generated.
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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 on page 57
Absolute Position Loss without APR Faults on page 50
APR Recovery Scenarios on page 54
APR Recovery Scenarios The following tables provide detailed information on when the APR feature
recovers absolute position. The following assumptions need to be taken into
consideration. In each of these cases, the APR feature restores absolute position
and preserves the state of the Axis Homed bit, indicating that the axis has a
machine referenced absolute position.
• All relevant axes are CIP axes.
• Yes, machine reference is recovered (for Axes that have been homed).
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Behavior models used in CIP Motion Chapter 2
• No, machine reference is not recovered (for Axes that have been homed).
Scenario Event Machine Reference
Retained
Controller Battery(1) Yes
Controller Power Cycle with Battery Yes
Controller Removal/Insertion Under Power (RIUP) with Battery Yes
Controller Firmware Update Yes
Controller CompactFlash Update Yes
Controller Swap (Same CF Card) Yes
Change Controller No
Change Controller without a CompactFlash Card No
Controller Power Cycle without Battery No
Controller Removal/Insertion Under Power (RIUP) without Battery No
Take the controllers out of two systems with a battery or energy storage No
module and swap controller. There are no CompactFlash or Secure
Digital cards on either controller
1. Controller remains powered. No
2. Power cycle drives.
3. Change feedback device but not motor
Controller Power Cycle or Removal and Insertion Under Power without a No
battery or energy storage module.
1. Controller and drives remained powered. No
2. Hardware feedback failure on an axis.
1. Battery Backed Controller No
2. User program running with an axis that is not homed.
Disconnect and reconnect the Ethernet cable. Yes
Disconnect and reconnect the same feedback or motor cable on an axis. Yes
Inhibit or Uninhibit an axis or drive. Yes
Battery Backed Save to a Secure Digital card with a homed axis and you initiate the
(2)
Yes
Controller restore.
RIUP controller. Yes
Cycle power on controller. Yes
Cycle power on controller that is configured to restore user program from Yes
a Secure Digital card on power up.
RAM memory becomes corrupt and the user program is restored from Yes
the Secure Digital card.
If you reset the machine reference using MAH or MRP after storing the
user program to a Secure Digital card, the MAH and MRP changes will be
lost. The APR will be restored to the reference stored on the card.
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Chapter 2 Behavior models used in CIP Motion
Scenario Event Machine Reference
Retained
User program running with a homed axis and you manually restore the Yes
user program from a Secure Digital card.
If you change the machine reference using MAH or MRP after storing the
user program to a Secure Digital card, the MAH and MRP changes will be
lost. The APR will be restored to the reference stored on the card.
Battery Backed Controller: Restore by taking the Secure Digital card to Sometimes
another controller.
If the other controller has the exact same axes configuration and scaling
constants as the Secure Digital card and has homed axes.
Transfer the Secure Digital card from the first controller to the second Yes
with the following preconditions:
• Empty the second controller. There is no user program in the second
controller.
• The user program has been saved on a Secure Digital card with CIP
Motion axes homed.
Transfer the Secure Digital Card from the first controller to the second Yes
with the following preconditions:
• The second controller has the same user program with the controller
being swapped.
• The second Controller has axes homed.
Reload the same user program from a Secure Digital card. This scenario Yes
assumes that the axis is homed in RAM prior to reload.
Update controller firmware from Secure Digital card. Yes
Change drive with same or different catalog number. Yes
Change motor but not feedback device Yes
Download same Change the name of an axis. Yes
program with no
Download the same Logix Designer application program to the Yes
hardware changes.
controller.
Save As with a different file name. Yes
Partial Export and then import an axis. Yes
Added application logic. Yes
Download the Logix Designer application project of Existing Axis. Yes
Add an axis. No for the new axis
Copy or cut and paste or drag and drop axis into the same project or a No for the new or
another project pasted axis
Export and then import into the same or another project. No
(1)
The term Battery in this table assumes a ControlLogix 5570 Controller and a 1756-ESMxxx Energy Storage Module.
(2)
ControlLogix 5570 Controller
See also
APR Fault Examples on page 53
Absolute Position Loss without APR Faults on page 50
APR Fault Conditions on page 50
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Reset an APR Fault There are three ways to reset an APR Fault.
• Instruction Execution
Executing an MAFR
Executing an MGSR
Executing an MASR
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 on page 53
APR Fault Conditions on page 50
APR Fault Generation on page 51
Motion Control Axis The Motion Control Axis Behavior Model is based on elements of the S88 and
Pack/ML standard state models. The current state of the Motion Control Axis is
Behavior Model indicated by the CIP Axis State attribute. State transitions can be initiated either
directly using the Axis Control request mechanism or by conditions that occur in
either the controller or motion device during operation.
Review the diagram for the behavior model to see how the axis state maps to
identity object states.
• Active Control Axis Behavior Model on page 58
• Feedback Only Axis Behavior Model on page 61
• CIP Motion Converter Axis Behavior Model on page 63
• Motor Attributes Model on page 64
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Chapter 2 Behavior models used in CIP Motion
Fault Reset State Transition Precedence
When an axis is in the Major Faulted state, the axis may transition to one of several
different states in response to a Fault Reset event. Which state the axis transitions
to is dependent upon other state/status conditions of the axis.
It is possible for more than one state condition to be present at the same time, for
example. Shutdown, Start Inhibited, and so forth. Since the axis state model can
only represent one state at any given time, the state of the axis is determined
according to the following precedence:
1. Major Faulted
2. Shutdown
3. Pre-Charge
4. Start Inhibited
5. Stopped
See also
State Behavior on page 68
Fault and Alarm Behavior on page 47
Exceptions on page 47
Active Control Axis Behavior The current state of the Motion Control Axis Object instance is indicated by the
CIP Axis State attribute. State transitions can be initiated either directly using the
Model
Axis Control request mechanism or by conditions that occur in either the
controller or motion device during operation.
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The diagram illustrates the basic operating states of the Motion Control Axis
when actively controlling axis motion (Control Mode != No Control), or in the
case of a regenerative converter, when actively controlling power. Shaded regions
show mapping of Axis States to corresponding Identity Object states. State
transitions terminating on shaded boxes can transition to any axis state within the
box.
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.
Valid transitions for the Axis State Model are defined in the following table:
Current State Event Conditions Next State
Off Power Up Self Test
Self Test Self Test Complete Initializing
Initializing Initialization Fault Major Faulted
Initializing Initialization Complete Pre-Charge
Shutdown Major Fault Major Faulted
Pre-Charge Shutdown Shutdown
Pre-Charge Major Fault Major Faulted
Pre-Charge Bus Up Stopped
Start Inhibited Shutdown Shutdown
Start Inhibited Major Fault Major Faulted
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Current State Event Conditions Next State
Start Inhibited Inhibits Cleared Stopped
Major Faulted Shutdown* Power Structure Enabled = 1 Aborting
Major Faulted Disable* Power Structure Enabled = 1 Aborting
Major Faulted Start Inhibit* Power Structure Enabled = 1 Aborting
Major Faulted Fault Reset Shutdown = 1 Shutdown
Major Faulted Fault Reset Shutdown = 0 Pre-Charge
DC Bus Up = 0
Major Faulted Fault Reset Shutdown = 0 Start Inhibited
DC Bus Up = 1
Start Inhibit > 0
Major Faulted Fault Reset Shutdown = 0 Stopped
DC Bus Up = 1
Start Inhibit =0
Major Faulted Reconnection Initializing
Stopped Shutdown* Power Structure Enabled = 1 Stopping
Stopped Disable* Power Structure Enabled = 1 Stopping
Stopped Start Inhibit* Power Structure Enabled = 1 Stopping
Stopped Start Inhibit Power Structure Enabled = 0 Start Inhibit
Stopped Not Bus Up Pre-Charge
Stopped Shutdown Shutdown
Stopped Major Fault Major Faulted
Stopped Enable Starting
Stopped Test (Active) Starting
Starting Shutdown Shutdown
Starting Major Fault Aborting
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 Shutdown
Stopping Major Fault Aborting
Stopping Enable Flying Start Enable = 1 Starting
Aborting Stop Complete Major Faulted
Aborting Fault Reset Stopping
Testing Shutdown Stopping
Testing Major Fault Aborting
Testing Disable Stopping
Testing Test Complete Stopping
Running Shutdown Stopping
Running Major Fault Aborting
Running Disable Stopping
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Current State Event Conditions Next State
Any State Connection Close Initializing
Any State Connection Loss Major Faulted
* Event disables the axis power structure after a Category 2 Stop leaves the axis in active hold condition.
See also
State Behavior on page 68
Fault and Alarm Behavior on page 47
Exceptions on page 47
Stopping Sequences on page 569
CIP Axis Status Attributes on page 315
Feedback Only Axis Behavior When the Motion Control Axis is not actively controlling axis motion (Control
Mode = No Control), the state diagram reduces to the following for a Feedback
Model
Only axis or CIP Motion Encoder device type. Shaded regions show mapping of
Axis States to corresponding Identity Object states. State transitions terminating
on shaded boxes can transition to any axis state within the box.
Tip: Apply the Fault Reset State Transition Procedures rules to determine the
Specific Standby state.
Valid transitions for the Axis State Model of a Feedback Only axis or CIP Motion
Encoder are defined in the following table:
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Current State Event Conditions Next State
Off Power Up Self Test
Initializing Initialization Fault Major Faulted
Initializing Initialization Complete Start Inhibited
Shutdown Major Fault Major Faulted
Shutdown Shutdown Reset Running
Start Inhibited Shutdown Shutdown
Start Inhibited Major Fault Major Faulted
Start Inhibited Inhibits Cleared Running
Major Faulted Fault Reset Shutdown = 1 Shutdown
Major Faulted Fault Reset Shutdown = 0 Start Inhibited
Start Inhibited > 0
Major Faulted Fault Reset Shutdown = 0 Running
Start Inhibited = 0
Major Faulted Reconnection Initializing
Running Shutdown Shutdown
Running Major Fault Major Faulted
Any State Connection Close Initializing
Any State Connection Loss Major Faulted
See also
State Behavior on page 68
Fault and Alarm Behavior on page 47
Exceptions on page 47
CIP Axis Status Attributes on page 315
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CIP Motion Non-regenerative When the Motion Device Axis Object is associated with a CIP Motion
Non-regenerative Converter, the Active Control state diagram reduces to the
Converter Axis Behavior Model
following diagram. Shaded regions show mapping of Axis States to corresponding
Identity Object states. State transitions terminating on shaded boxes can
transition to any axis state within the box.
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 CIP Motion Non-regenerative
Converter axis are explicitly defined in the following table:
Current State Event Conditions Next State
Off Power Up Self Test
Self Test Self Test Complete Initializing
Initializing Initialization Fault Major Faulted
Initializing Initialization Complete Pre-Charge
Shutdown Major Fault Major Faulted
Shutdown Shutdown Reset Pre-Charge
Start Inhibited Shutdown Shutdown
Start Inhibited Major Fault Major Faulted
Start Inhibited Inhibits Cleared Pre-Charge
Pre-Charge Start Inhibit Start Inhibited
Pre-Charge Shutdown Shutdown
Pre-Charge Major Fault Major Faulted
Pre-Charge Bus Up Running
Major Faulted Fault Reset Shutdown = 1 Shutdown
Major Faulted Fault Reset Shutdown = 0 Pre-Charge
Major Faulted Reconnection Initializing
Running Not Bus Up Pre-Charge
Running Shutdown Shutdown
Running Major Fault Major Faulted
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Current State Event Conditions Next State
Any State Connection Close Initializing
Any State Connection Loss Major Faulted
See also
State Behavior on page 68
Fault and Alarm Behavior on page 47
Exceptions on page 47
Motor Attributes Model The Motor Attributes define the minimal set of required attributes to support
CIP Motion device interchangeability. This guarantees that there is sufficient
parametric data provided by the controller for any CIP Motion compliant device,
for example, a drive, to effectively control a given motor.
The Usage category for an attribute is based on the Motor Type. Where needed,
Required versus Optional is further differentiated by abbreviations for PM
(Permanent Magnet) and IM (Induction Motors). It is implied that these motor
attributes are applicable to all drive modes, F, P, V, and T, but not applicable for
the No Control axis configurations where there is no active motor control
function.
For induction motors, the Motion Control Axis leverages the IEEE recommended
phase-neutral equivalent circuit motor model based on "Wye" configuration.
Reactance values, X, are related to their corresponding Inductance values, L, by X
= ωL, where ω is the rated frequency of the motor. The prime notation, for
example, X2', R2', indicates that the actual rotor component values X2, and R2 are
referenced to the stator side of the stator-to-rotor winding ratio.
IEEE per Phase Motor Model:
For permanent magnet motors, the Motion Control Axis assumes all motor
parameters are defined in the context of a phase-to-phase motor model.
See also
General Motor Attributes on page 511
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General Permanent Magnet Motor Attributes on page 519
General Rotary Motor Attributes on page 522
General Linear Motor Attributes on page 509
Induction Motor Attributes on page 524
Linear PM Motor Attributes on page 526
Load Transmission and Actuator Attributes on page 532
Rotary PM Motor Attributes on page 534
Position Control Behavior In Position Control mode, the only operative Control Method supported is
Closed Loop servo control. When performing closed loop Position Control, the
device applies the Position Command signal output of the Command Generator
to the position loop summing junction. In addition to the Position Command, a
Position Trim input is provided that can be used to provide an offset to the
position loop. The classic PI control loop generates a Position Loop Output signal
to an inner velocity loop.
The following diagram provides an overview of the closed loop position control
behavior model.
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See also
Position Feedback Selection on page 66
Position PI Gains on page 66
Velocity Feedforward on page 66
Position Loop Output Filters on page 67
Position Feedback Selection Feedback to the PI regulator can be derived from two different feedback channels.
This flexibility allows the position loop to operate with either a motor based
feedback device that is typically attached to the Feedback 1 channel or a load-side
feedback device that is connected to the Feedback 2 channel. Which feedback
source is used by the loop is governed by the Feedback Mode attribute.
When the Feedback Mode calls for Dual Feedback operation, the position loop
utilizes the Feedback 2 channel and the velocity loop uses the Feedback 1 channel.
Since the two feedback channels may not have the same feedback resolution, it is
necessary to convert position loop output from Feedback 1 units to Feedback 2
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 on page 65
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
Gain is used to devise the Position Error signal to zero to compensate for the effect
of any static and quasi-static torque or forces applied to the load.
See also
Position Control Behavior on page 65
Velocity Feedforward The inner velocity loop requires a non-zero command input to generate
steady-state axis motor velocity. To provide the non-zero output from the device
to the motor, a non-zero position loop output is required, which translates to a
non-zero position error.
This dynamic error between command position and actual position while moving
is often called "following error". Most closed loop motion control applications
require zero following error all of the time. This could be achieved to some extent
through use of the position integral gain control, but typically the response time of
the integrator action is too slow to be effective in high-performance motion
control applications. An alternative approach that has superior dynamic response
is to use Velocity Feedforward.
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The Velocity Feedforward feature is used in Position Control mode to provide the
bulk of the Velocity Reference input necessary to generate the desired motor
velocity. It does this by scaling the Fine Velocity Command signal output of the
Command Generator by the Velocity Feedforward Gain and adding the resultant
Velocity Feedforward Command signal to the Position Loop Output generated by
the position loop to form the Velocity Reference signal. With this feature, the
position loop does not need to generate much effort to produce the required
velocity command level, hence the Position Error value is significantly reduced.
The Velocity Feedforward Command signal allows the following error of the
position control loop to be reduced to nearly zero when running at a constant
velocity. This is important in applications such as electronic gearing and
synchronization applications where it is necessary that the actual axis position not
significantly lag behind the commanded position at any time.
Theoretically, the optimal value for Velocity Feedforward Gain is 100%. In reality,
however, the value may need to be adjusted to accommodate velocity loops with
finite loop gain. One thing that may force a smaller Velocity Feedforward value is
that increasing amounts of feedforward tend to exacerbate axis overshoot. For this
reason feedforward is not recommended for point-to-point positioning
applications.
See also
Position Control Behavior on page 65
Position Loop Output Filters on page 67
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.
In this equation, Kn represents the Lead-Lag Filter Gain, or high frequency gain of
the filter (the low frequency gain is always 1), and wn represents the Lead-Lag
Filter Bandwidth associated with the pole of the filter:
• If Kn > 1, the filter provides lead compensation.
• If Kn < 1, the filter provides lag compensation.
• If Kn = 0 the lead-lag filter becomes a pure low pass filter.
• If Kn = 1, the filter is disabled.
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Finally, a notch filter is included that has been shown to be effective in solving
certain types mechanical compliance problems. The equation for this filter is as
follows:
In this equation, Q represents the sharpness of the notch, and A represents the
attenuation depth of the notch. In most implementations, the sharpness, Q, and
the attenuation depth, A, are hard-coded in the device. In PowerFlex drives the
value of Q is 0.62 and the depth is set to 30.
See also
Position Control Behavior on page 65
State Behavior The Motion Control Axis state model includes the following the states and state
transitions.
Off State
This is the state of the Motion Control Axis with power off.
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. All axes in
the Motion Group are processed synchronously by the controller's Motion Task.
If an associated CIP Motion device or Motion Group is not found for the axis, the
axis state in the controller reflects this condition as No Device, and Not Grouped,
respectively. The axis will remain in this state until the problem is corrected.
Similarly, when power is applied to the device, or the device is reset, the device also
goes through a series of self-test diagnostics and internal device parameters are set
to their power-up default values. If unsuccessful, the impacted axis instances
transition immediately to the Faulted state by declaring an Initialization Fault that
is classified as Un-recoverable according to the terminology defined by the Identify
Object. Clearing this fault can only be accomplished through a power cycle and is
most likely the result of a device hardware problem.
Once these self tests have been completed successfully by the CIP Motion
controller and the associated CIP Motion device, the axis state transitions to the
Initializing state where CIP Motion connections are created and the devices are
configured by the controller. From this point on, the Axis State value in the
controller is influenced by the Axis State value in the device using the CIP Motion
connection.
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If the CIP Motion device supports stand-alone operation under local control with
local configuration data, the device is free to transition from the Self-test state to
the Pre-Charge state and on to the Stopped state. Should the device receive a
subsequent Forward Open service to open a CIP Motion connection, the device
will disable all axes and transition back to the Initializing state, following the state
sequence outlined below.
If the device does not support stand-alone operation and depends on remote
configuration data to be supplied over a CIP Motion connection, the device will
transition to the Initializing state and wait (Standby) for the Forward Open
service from the controller to open the CIP Motion Connection.
Initializing State
From the controller's perspective the Initializing state shown in the state models
consists of 4 different axis sub-states, Unconnected, Configuring, Synchronizing,
and Waiting for Group. While transitioning through these Initializing sub-states,
the controller has no access to current Axis State value in the drive. Only after the
controller's CIP Axis State completes the Initialization process, does the CIP Axis
State value reflect the current Axis State attribute value in the CIP Motion device.
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.
Once connections are established, the controller sends Set services to the device to
set the Motion Device Axis Object configuration attributes to values stored in the
controller. Any configuration error encountered during this process, such as "value
out of range" or "value not applicable", are handled by the device by erring the Set
service response. When the CIP Motion device is connected to one or more
intelligent motor and feedback components that contain non-volatile
configuration data associated with the component, this data will be read by the
device prior to responding to related Set services from the controller. This allows
the device the opportunity to validate the controller's motor and feedback related
configuration data against the configuration data stored in the motor or feedback
component. Any validation error encountered during this process will be handled
by erring the Set service response with an "Invalid Attribute Value" code (09).
Finally, reading the intelligent component data prior to completing the
configuration process also allows the serial number of the component to be read by
the controller to determine if the component has been replaced. The controller
does not complete the configuration process (Configuration Complete) until all
configuration attributes have been successfully acknowledged.
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If the device supports synchronous operation, the controller then synchronizes
with the device using the Group_Sync service. If the device has already been
successfully configured, the CIP Axis State transitions to "Synchronizing" until it
receives a successful Group_Sync service response.
After the device is fully configured and synchronized with the controller, the
controller checks all other axes in the Motion Group to determine if they are also
configured and synchronized. During this time, the CIP Axis State is "Waiting for
Group". As soon as the controller determines that all axes in the Motion Group
are configured and synchronized, Initialization is complete and the CIP Axis State
value is thereafter derived directly from the Axis State value of the device in
accordance to the state model defined in the Motion Device Axis Object.
If a problem is found during this initialization process, for example, a process that
is beyond the scope of a Set service error, the device generates an Initialization
Fault. An Initialization Fault is viewed as an unrecoverable fault, only a power
cycle or a device reset can clear the fault condition.
If the CIP Motion connection is intentionally closed for any reason during
operation using a Forward Close service, the device clears all active faults and
returns to the Initializing State. If the CIP Motion connection is lost for any other
reason during operation, the device generates a Node Fault and transitions to the
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.
The Initializing State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
Pre-Charge State
During the Pre-Charge state, when applicable, the device is waiting for the DC
Bus to fully charge (DC Bus Up status bit is clear). Once the DC Bus reaches an
operational voltage level (DC Bus Up status bit is set), the axis either transitions to
the Stopped state (drive axis or regenerative converter axis) or to the Running state
(non-regenerative converter axis). The device's power structure is always disabled
in this state (Power Structure Enabled status bit clear). Any attempt for the
controller to enable the axis using the Axis Control mechanism while it is in the
Pre-Charge state is reported back to the controller as an error in the Response
Status and the axis remains in the Pre-Charge state.
The Pre-Charge State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
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Stopped State
In the Stopped state the device's power structure will either be disabled (Power
Structure Enabled status bit clear) or, in the case of a drive axis, held in a static
condition using an active control loop (Power Structure Enabled status bit set).
No motion can be initiated by a drive axis in the Stopped State nor can a drive axis
respond to a planner generated command reference (Tracking Command status
bit clear). In general, the motor associated with the drive axis will be at rest, but if
an external force or torque is applied to the load, a brake may be needed to
maintain the rest condition. Similarly, no AC Line modulation can be applied by a
regenerative converter axis in the Stopped state, nor can any regenerative energy be
transferred to the AC Line. In the Stopped state, main power is applied to the
device and the DC Bus is at an operational voltage level. If there are any Start
Inhibit conditions detected while in this state, the axis transitions to the Start
Inhibited state. If an Enable request or one of the Run Test service requests is
applied to an axis in the Stopped state, the axis transitions to the Starting state.
Starting State
When an Enable request is given to an axis in the Stopped, or Stopping state when
performing a drive Flying Start, the axis immediately transitions to the Starting
state. In this state, the device checks various conditions before transitioning to the
Running state. These conditions for a drive axis can include Brake Release delay
time and Induction Motor flux level. The device control and power structures are
activated during the Starting state (Power Structure Enabled status bit set) but the
command reference is set to a local static value and will not track the command
reference derived from the controller (Tracking Command status bit clear). If all
the starting 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). In the case of a drive
axis, the selected Control Mode is enabled and the device begins actively tracking
command data from the controller based or device based motion planner output
to impact axis motion (Tracking Command status bit set).
In the case of a Feedback Only Control Mode, the Running state simply indicates
that the feedback device is fully operational. The motion axis remains in the
Running state until either a fault occurs or it is explicitly commanded to stop using
an Axis Control request. n the case of a regenerative converter axis, the Converter
Control Mode is enabled and the device beings actively tracking the Voltage or
Current set point value from the controller (Tracking Command status bit set).
The axis remains in the Running state until either a fault occurs or it is explicitly
commanded to Shutdown using an Axis Control request.
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In the case of an axis with no active control function (Control Mode = No
Control), the Running state simply indicates that the device is fully operational.
Since there is no active control function, however, the Power Structure Enabled
status bit and the Tracking Command status bit are both clear. The axis remains
in the Running state until either a fault occurs or it is explicitly commanded to
Shutdown via an Axis Control request.
Testing State
When any one of the Run Test request services is sent to the axis while in the
Stopped state, for example, services that require an active power structure to
execute, the axis immediately transitions to the Starting State (Power Structure
Enabled status bit set), and then once the Starting conditions are met, the axis
transitions to the Testing state. This Testing state is like the Running state in that
the device's power structure is active, but in the Testing state one of the device's
built-in test algorithms is controlling the motor (drive) or line energy flow
(regenerative converter), not command or set point data from the controller
(Tracking Command status bit clear). In the Testing state a drive excites the
motor in various ways while performing measurements to determine
characteristics of the motor and load. Similarly a regenerative converter device
applies current in various way to determine characteristics of the AC line and DC
bus. The drive or converter axis remains in this state for the duration of the
requested test procedure and then stops and returns to the Stopped state. The axis
can also exit the Testing state by either a fault or an explicit Axis Control request.
In all these exit cases, a drive executes a Category 0 Stopping Sequence.
Start Inhibited State
The Start Inhibited state is the same as the Stopped state with the exception that
the axis has one or more 'start inhibit' conditions that prevent it from successfully
transitioning to the Starting state. These conditions can be found in the Start
Inhibits attributes. Once corrected, the axis state automatically transitions back to
the Stopped state.
For an axis with no active control function (Control Mode = No Control), an axis
in the Start Inhibited state is prevented from transitioning to the Running state by
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.
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Stopping State
When a Disable request is issued to the Motion Device Axis Object in the
Starting, Running or the Testing states, the axis immediately transitions to the
Stopping state. In this state, the axis is in the process of stopping and is no longer
tracking command or set point data from the controller (Tracking Command
status bit clear). For a drive axis, a Disable Request executes the configured
Stopping Actions while a Shutdown Request executes the configured Shutdown
Action.
There are many different Stopping Actions supported by the Motion Device Axis
Object for a drive axis. Each of these Stopping Actions executes one of three
possible IEC60204-1 Category Stops or Stopping Sequences (Category Stop 0, 1,
and 2). Most of these Stopping Actions actively decelerate the axis to a stop
(Category Stop 1 and 2). The power structure may remain active (Power Structure
Enabled status bit set) as long as the Stopping Action procedure takes to complete.
Once the selected Stopping Action procedure has completed, the axis transitions
to the Stopped state. When the Stopping Action of "Disable and Coast" is
initiated by a Disable Request or a Shutdown Action, the power structure is
immediately disabled (Power Structure Enabled status bit clear) and the axis coasts
to a stop while in the Stopping state (Category 0 Stop). For all Stopping
Sequences, the device will wait until the axis has reached zero speed, or a timeout
occurs (as defined by the Stopping Time Limit and Coasting Time Limit
attributes), before transitioning to the Stopped state. In some cases, such as when
the axis is stationary, this transition can be immediate. The criteria for zero speed
is based on Velocity Feedback being less than 1% of motor rated speed or by
criteria set by optional Zero Speed and Zero Speed Time attribute values. In the
case of a Frequency Control drive device, the criteria are based on Velocity
Reference rather than Velocity Feedback.
When an Enable Request is given to a drive axis in the Stopping state with Flying
Start Enabled, the axis will immediately transition to the Starting state.
Aborting State
When a Major Fault occurs in the motion device while the axis is in either the
Starting, Running, Testing, or Stopping states, the axis immediately transitions to
the Aborting state. In this state, the axis is in the process of stopping and is no
longer tracking command or set point data from the controller (Tracking
Command status bit clear).
For a drive axis, a Major Fault executes the appropriate stopping action as specified
by the device vendor. When actively stopping the drive axis in the 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.
In any case, the drive axis will wait until the axis has reached zero speed before
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transitioning to the Major Faulted state. Once the stopping procedure is complete
and the axis has reached zero speed, the axis transitions to the Faulted state. The
criteria for zero speed is based on Velocity Feedback being less than 1% of motor
rated speed or by criteria set by optional Zero Speed and Zero Speed Time
attribute values. In the case of a Frequency Control drive axis, Velocity Reference
is used rather than Velocity Feedback. In some cases, such as when the axis is
stationary, this transition can be immediate.
When faults conditions are detected in the controller that are not visible to the
motion device, or when the motion device reports a Minor Fault condition, the
controller is responsible for bringing the axis to a stop, either directly using an Axis
Control state change request or, in the case of a drive axis, directly by a motion
planner stop, or indirectly using a fault handler in the user program. If the Axis
State reported by the motion device is Stopping, then the controller sets the CIP
Axis State to Aborting based on the presence of the fault condition.
When an Abort Request is issued to the Motion Device Axis Object a Controller
Initiated Exception is generated. If the associated Axis Exception Action is set to
generate a Major Fault the drive axis stops the axis according to the configured
Stopping Action before transitioning to the Faulted state.
Faulted State
The Motion Device Axis Object defines a Major Faulted state that is identical to
the Stopped state (or, if a Shutdown fault action was initiated, the Shutdown
state) with the exception that there are one or more Faults active. In other words, a
Major Faulted axis is a Stopped (or Shutdown) axis with a Major Fault condition
present. The Motion Device Axis Object also defines a Minor Fault as a fault that
allows device operation to continue and does not impact the Axis State in the
motion device.
There is no such distinction between Major Fault and Minor Fault in the
controller; both Major Faults and Minor Faults reported by the drive result in the
axis transitioning to the Faulted state in the controller. Thus, in the controller it is
not generally true that a Faulted axis is a Stopped (or Shutdown) axis with a Fault
condition present. When the motion device reports a Minor Fault condition, or
when fault conditions are detected in the controller that are not visible to the
motion device, the controller is responsible for bringing the axis to a stop, either
directly using an Axis Control state change request or motion planner stop, or
indirectly using a fault handler in the user program. Until this is done, the Axis
State in the motion device may be something other than the Major Faulted state,
perhaps even in the Running state. This is reasonable given that the motion device
is only one component in a much bigger motion control system. The CIP Motion
controller is responsible for rolling up all the conditions of the system into the
Axis State that is presented to you.
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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. There are many different sources of Faults: CIP
Initialization Faults, CIP Axis Faults, Motion Faults, Module Faults, Group
Faults, Safety Faults, and Configuration Faults. The following table describes the
sources of these faults:
Fault Source
CIP Initialization Faults These faults can only occur during the Initializing state. You cannot generate an Initialization
fault in any other state of the drive, for example, faults occurring during operation of the drive
after transitioning out of the Initializing state. Initialization Faults can apply to a specific axis or
to the entire drive, in which case all device axis instances would indicate the Initialization Fault.
The device power structure, if applicable, is disabled when there is a CIP Initialization Fault
present.
CIP Axis Faults As the name implies, CIP Axis Faults apply to a specific device axis instances. CIP Axis Faults are
the direct result of Axis Exceptions that are configured to generate a Fault response. These
exception conditions may apply to individual axis instances or to all axis instances. In any case,
applications may require the device be configured to handle these exceptions differently for
different axes. Run time conditions related to Motor, Inverter, Converter, Bus Regulator, and
Feedback components, in general, shall be handled as Axis Exceptions. The power structure if
applicable, may or may not be disabled when there is a CIP Axis Fault present depending on the
specific stopping action applied by the device in response to the fault condition.
Axis Safety Faults Axis Safety Faults also apply to specific axis instances. Axis Safety Faults are the direct results of
safety faults reported by the embedded Safety Core of the device when Safety Fault Action is
configured to generate a Fault response. The Safety Core of the device is responsible for
monitoring the condition of various critical safety functions associated with the axis. This
embedded Safety Core has a CIP Safety connection to an external Safety Controller. When an
Axis Safety Fault occurs, the safety system is responsible for forcing the axis into a Safe State.
Guard Faults These faults also apply to a specific axis instance. Guard Faults are generated by a fault
condition detected in the drive's "Hardwired" safety monitor functionality (SMSC). This
component of the drive is designed to monitor various critical safety functions of the drive and
put the axis in a safe state if any monitored condition fails to operate nominally.
Motion Faults These faults are generally associated with fault conditions generated by the motion planner
function. These faults can include conditions related to the input (for example, actual position)
and output (command position) signals to the motion planner. The device power structure, if
applicable, may or may not be disabled when there is a Motion Fault present depending on the
specific stopping action applied by the system in response to the fault condition.
Module Faults These faults apply to the entire motion device and affect all axes associated with that device.
These faults can occur at any time during device operation. Module Faults include all Node
Faults reported by the device, which are primarily communication faults, but can include
general hardware faults where these fault conditions are checked during run-time. A CPU
watchdog fault would be an example of a hardware CIP Node Fault. Module Faults also include
communication fault conditions detected on the controller side of the motion connection. An
example of a controller side Module Fault would be the Control Sync Fault. The device power
structure, if applicable, is disabled when there is a Module Fault present with the controller
initiating the equivalent of a shutdown fault action.
Group Faults These faults are related to the motion group object function and affect all axes associated with
the motion group. These faults can occur at any time during device operation. Group Fault
conditions are detected by controller and are generally associated with the time
synchronization function that is common to all axes in the motion group. The device power
structure, if applicable, of every axis associated with the motion group is disabled when there is
a Group Fault present with the controller initiating shutdown fault actions.
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Fault Source
Configuration Faults A configuration fault is generated anytime there is an error in sending configuration data to the
motion device. Specifically, if the motion device responds to a Set Attribute service with an
error, the error condition is reflected as a Configuration Fault along with the Attribute Error
Code and Attribute ID. The device power structure, if applicable, is disabled when there is a
Configuration Fault present.
Shutdown State
When a Shutdown request is issued to the device or a Shutdown fault action is
executed by the device, the targeted axis transitions to the Shutdown state. In the
case of a Shutdown request, the axis immediately transitions from whatever state it
is currently in to the Shutdown state. The Shutdown state has the same basic
characteristics of the Stopped state except that it can be configured using the
Shutdown Action attribute to drop the DC Bus power to the device's power
structure. This is generally done by opening an AC Contactor Enable output
provided by the drive that controls power to the converter. Regardless of whether
or not DC Bus power is disconnected, this state requires an explicit Shutdown
Reset request from the controller to transition to the Pre-Charge state. If the
device is configured to keep the DC Bus power active while in the Shutdown state
then the axis transitions through the Pre-Charge state to the Stopped state. The
Shutdown state offers an extra level of safety against unexpected motion.
In the case where a Shutdown fault action is initiated by the drive in response to
an exception condition that is configured to be a Major Fault, the device executes
the Shutdown action, but the axis goes to the Faulted state, not the Shutdown
state. Similarly, when the axis is in the Shutdown state and a major fault condition
occurs, the axis transitions to the Faulted state. In other words, the major fault
condition has precedence over the shutdown condition and the shutdown
condition can be considered a sub-state. In either of these cases a Fault Reset
request from the controller clears the fault and, assuming the original fault
condition has been removed, the axis then transitions to the Shutdown state. A
Shutdown Reset request from the controller, however, both clears the fault and
performs a shutdown reset so, assuming the original fault condition has been
removed, the axis transitions to the Pre-Charge state as described above.
In addition to the Shutdown action functionality, the Shutdown state can also be
used by the controller to disable any slave gearing or camming motion planner
functions that reference this device axis as a master axis. For this reason, the
Shutdown state is supported in the case of a Feedback Only Control Mode where
the axis instance is simply associated with a feedback device.
The Shutdown State is classified as an Identity Object Standby state and,
therefore, requires that the associated power structure, if applicable, is disabled.
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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.
A CIP Motion axis will be associated with a physical CIP Motion device to
function. This condition is checked during the controller Self Test state as
qualification for transition to the Initializing state. For this reason the No Device
state is considered a controller only sub-state of the Self Test state.
Not Grouped State
If a CIP Motion axis instance is created and not associated with a Motion Group,
the axis state is set to the Not Grouped state. A CIP Motion axis will be assigned
to a Motion Group in order for the axis instance to be updated by the periodic
Motion Task and carry out its function. This condition is checked during the
controller Self Test state as qualification for transition to the Initializing state. For
this reason, the Not Grouped state is considered a controller only sub-state of the
Self Test state.
Axis Inhibited State
If you Inhibit the axis instance for any reason, the associated instance in the CIP
Motion connection is eliminated and the axis state transitions to the Axis
Inhibited state. If this is the only instance supported by the CIP Motion
connection, the connection itself will be closed. The Axis Inhibited state is a
controller only sub state of the Self Test state. The Axis Inhibited condition is
checked during the controller Self Test state as qualification for transition to the
Initializing state. If currently Axis Inhibited, an Un-Inhibit operation will be
performed by you to transition to the Initializing state and restore axis function.
Configuring State
Once a CIP Motion I/O connection has been made to the device, the controller
begins to send configuration data using the connection's service channel. At this
time the axis state transitions from Unconnected to Configuring. The axis state
will remain in the Configuring state until the values of all applicable configuration
attributes in the device have been set for this axis instance, or until a configuration
fault occurs, in which case the axis state transitions to the Faulted state.
Synchronizing State
If the device has not been synchronized to the controller by the time the controller
has completed the axis configuration process, the axis state transitions to the
Synchronizing state. The axis state will remain in the Synchronizing state until the
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
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case the controller closes the connection and starts the Initialization process over
again.
Waiting for Group State
After configuring the axis and synchronizing the device to the controller, the
controller checks the status of all other axes in the Motion Group. If there are any
other axes in the Motion Group that are still being configured or synchronized,
the Axis State will transition to Waiting for Group. Cyclic data exchange over the
CIP Motion connection does not occur until all axes in the Motion Group are
configured and synchronized. Once all axes in the Motion Group are configured
and synchronized, the CIP Axis State transitions to the current Axis State
attribute value in the device, typically Pre-Charge or Stopped.
See also
Fault and Alarm Behavior on page 47
Exceptions on page 47
Motion Control Axis Behavior Model on page 57
Stopping and Braking Attributes on page 556
Torque Control Behavior Torque is generally proportional to acceleration and to the torque producing
motor current, Iq. The purpose of the Torque Control structure is to combine
input signals to create a Torque Reference. The Torque Reference, from a variety
of sources, is based on the Control Mode. It applies various filters and
compensation algorithms to the Torque Reference to create a Filtered Torque
Reference.
The Filtered Torque Reference signal is scaled by the reciprocal of the torque
constant, Kt, of the motor to become the Iq Current Command input to the
current loop. Because the motor current is also per unitized to the '% Rated'
current of the motor, the torque constant, Kt, is nominally 1. In other words, in
general it is assumed that 100% rated current produces 100% rated torque.
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The following diagram provides an overview of the torque control behavior
model:
See also
Torque Input Sources on page 79
Inertia Compensation on page 80
Friction Compensation on page 82
Torque Filters on page 84
Torque Limiter on page 85
Torque Input Sources The Torque Control model can take input from a variety of sources depending on
the Control Mode. Input to the Torque Reference path can come through the
cyclic Torque Command or Torque Trim signal in Torque Control mode. In
Position or Velocity Control mode, torque input is derived from the outer velocity
loop or acceleration loop by bringing in the resulting acceleration signals and
scaling these signals into equivalent torque.
Acceleration to Torque Scaling
Because the acceleration input signals into the Torque Control section are
expressed in units of acceleration, a scaling factor, Kj, is needed to convert
acceleration units to torque % Rated Torque units. This scaling factor, when
properly configured, represents the total System Inertia or mass of the system that
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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/Sec2.
The acceleration units can be expressed in Feedback 1 or Feedback 2 Units based
on the Feedback Mode setting. Therefore, in the case where Feedback 2 applies,
the acceleration signal needs to be scaled by the Feedback Unit Ratio as shown by
the Unit Ratio.
See also
Torque Control Behavior on page 78
Inertia Compensation on page 80
Inertia Compensation Inertia compensation features are included in the Torque Control behavior
model.
Backlash Compensation
Backlash Compensation is used to stabilize the device control loop behavior in
applications with high load inertia ratios and mechanical backlash.
The Backlash Compensation Window attribute is used to control the Backlash
Compensation feature. Mechanical backlash is a common problem in applications
that use mechanical gearboxes. The problem stems from the fact that until the
input gear is turned to the point where its proximal tooth contacts an adjacent
tooth of the output gear, the reflected inertia of the output is not felt at the motor.
In other words, when the gear teeth are not engaged, the system inertia is reduced
to the motor inertia.
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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. The net effect is a loud buzzing sound when the axis is at rest, commonly
referred to as 'gearbox chatter'. If this situation persists, the gearbox will wear out
prematurely. To prevent this condition, the conventional approach is to de-tune
the velocity loop so that the axis is stable without the gearbox load applied.
Unfortunately, system performance suffers.
With a Backlash Stabilization Window value commensurate with the amount of
backlash in the mechanical system, the backlash stabilization algorithm is very
effective in eliminating backlash-induced instability while still maintaining full
system bandwidth. The key to this algorithm is a tapered Kj profile that is a
function of the position error of the position loop, illustrated in the following
diagram.
The reason for the tapered profile, as opposed to a step profile, is that when the
position error exceeds the backlash distance a step profile would create a very large
discontinuity in the torque output. This repulsing torque tends to slam the axis
back against the opposite gear tooth and perpetuate the buzzing effect. The
tapered profile can be qualified to run only when the acceleration command or the
velocity command to the control loop structure is zero, for example, when not
commanding motion that would engage the teeth of the gearbox.
Properly configured with a suitable value for the Backlash Compensation
Window, this algorithm entirely eliminates the gearbox buzz without sacrificing
any servo performance. The Backlash Compensation Window parameter
determines the width of the window over which backlash stabilization is applied.
In general, this value is set equal to or greater than the measured backlash distance.
A Backlash Stabilization Window value of zero effectively disables the feature.
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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. This feature
can be used to compensate for inertia variation without compromising system
performance. The Inertia Observer works on the premise that the motor and load
are not subject to externally applied torques or forces that could impact the
acceleration of the load. By contrast, the Load Observer in the Acceleration
Control behavior model works on the premise that changes in acceleration are due
to externally applied torques/forces on the motor and load. Thus, the operation of
these two observers are mutually exclusive; they should not be enabled at the same
time.
See also
Friction Compensation on page 82
Torque Control Behavior on page 78
Friction Compensation Friction Compensation applies a compensating directional torque or force to the
motor to overcome the effects of friction in the mechanical system, thus
minimizing the amount of control effort required. Individual attributes have been
defined to support compensation for static friction, sliding (Coulomb) friction,
and viscous friction. A compensation window attribute is also provided to
mitigate motor dithering associated with conventional friction compensation
methods.
Static Friction Compensation
It is not unusual for an axis to have enough static friction, commonly called
'sticktion', in Position Control applications that even with a significant position
error, the mechanical system refuses to budge. Of course, position integral gain can
be used to generate enough output to the drive to correct the error, but this
approach may not be responsive enough for the application. An alternative is to
use Static Friction Compensation to break the sticktion in the presence of a
non-zero position error. This is done by adding, or subtracting, a fixed torque
level, as determined by the Static Friction Compensation attribute, to the Torque
Reference signal value based on its current sign. This form of friction
compensation is applied only when the axis is static, for example, when there is no
change in the position command.
The Static Friction Compensation value must be just under the value that would
overcome the sticktion. A larger value results in axis 'dither', a phenomena
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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. If the actual position is within the Friction Compensation
Window, the Static Friction Compensation value is applied to the Servo Output,
but scaled by the ratio of the Position Error signal to the Friction Compensation
Window. Within the window, the position loop and velocity loop integrators are
also disabled to avoid the hunting effect that occurs when the integrators wind up.
Thus, once the position error reaches or exceeds the value of the Friction
Compensation Window attribute, the full Static Friction Compensation value is
applied. Of course, when the Friction Compensation Window be set to zero, this
feature is effectively disabled.
A non-zero Friction Compensation Window has the effect of softening the Static
Friction Compensation as it's applied to the Torque Reference and reducing the
dithering and hunting effects that it can create. This feature generally allows
higher values of Static Friction Compensation to be applied, resulting in better
point-to-point positioning.
Sliding Friction Compensation
Sliding friction or Coulomb friction, by definition, is the component of friction
that is independent of speed as long as the mechanical system is moving. Sliding
friction is always less than static friction for a given mechanical system. The
method of compensating for sliding friction is basically the same as that for static
friction, but the torque level added to the Torque Reference is less than that
applied to overcome static friction and is determined by the Sliding Friction
Compensation attribute. Sliding Friction Compensation is applied only when the
axis is being commanded to move.
Viscous Friction Compensation
Viscous friction, by definition, is the component of friction that increases linearly
with the speed of the mechanical system. The method of compensating for viscous
friction is to multiply the configured Viscous Friction Compensation value by the
speed of the motor and apply the result to the Torque Reference signal. Viscous
Friction Compensation is applied only when the axis is being commanded to
move.
See also
Torque Filters on page 84
Torque Control Behavior on page 78
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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.
In this equation, Kn represents the Lead-Lag Filter Gain, or high frequency gain of
the filter (the low frequency gain is always 1), and wn represents the Lead-Lag
Filter Bandwidth associated with the pole of the filter:
• If Kn > 1, the filter provides lead compensation.
• If Kn < 1, the filter provides lag compensation.
• If Kn = 0 the lead-lag filter becomes a pure low pass filter.
• If Kn = 1, the filter is disabled.
When used as a lag filter (Kn < 1), this filter can be effective in compensating for
the gain boosting effect of natural mechanical resonance frequencies that are
within the acceleration/velocity loop bandwidth.
Low Pass Filter
The Low Pass Filter is effective in resonance control when the natural resonance
frequency is much higher (>5x) than the control loop bandwidth. This filter
works by reducing the amount of high-frequency energy in the device output that
excite the natural resonance. The Low Pass Filter design can be single pole or
multiple poles. Care should be taken, however, to limit the amount of phase lag
introduced by this filter to the control loop to avoid potential instability.
Notch Filter
The notch filters are effective in resonance control when the natural resonance
frequency is higher than the control loop bandwidth. Like the Low Pass filter, the
notch filter works by significantly reducing the amount of energy in the device
output that can excite the natural resonance. It can be used even when the natural
resonance frequency is relatively close to the control loop bandwidth. That is
because the phase lag introduced by the notch filter is localized around the notch
frequency. For the notch filter to be effective, the Notch Filter Frequency has to be
set very close to the natural resonance frequency of the load.
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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.
See also
Torque Limiters on page 85
Torque Control Behavior on page 78
Torque Limiter After undergoing friction compensation and filtering the Torque Reference signal
passes through a limiter to produce the Limited Torque Reference signal. The
Torque Limiter applies a torque limit to the signal that is based on the sign of the
torque reference signal input and the state of the axis.
During normal operation it is the Torque Limit – Positive and Torque Limit –
Negative attributes, set by the user, that are applied to the torque reference signal.
When the axis is commanded to stop as part of a disable request or major fault
condition, the device applies the Stopping Torque Limit.
Also included with the torque limiter is a built-in Torque Rate of Change Limit.
This feature limits the rate of change of the torque reference output.
See also
Torque to Current Scaling on page 85
Torque Control Behavior on page 78
Torque to Current Scaling The final result of all this torque signal filtering, compensation, and limiting
functionality is the Filtered Torque Reference signal. When the signal is scaled by
the reciprocal of the Torque Constant of the motor, 1/Kt, it becomes the torque
producing Iq Current Command signal to the current loop.
Ideally, the relationship between motor torque and motor current is independent
of position, time, current, and environmental conditions, the 1/Kt scaling has a
nominal value of 1, so that 100% rated torque translates to 100% rated current. In
practice, this may not be the case. Compensation can be applied to the 1/Kt value
to address these issues at the drive vendors' discretion.
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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. This
table can then be used to compensate for the cogging impact in real- time based on
the electrical angle of the motor resulting in smoother motor operation.
See also
Torque Control Behavior on page 78
Velocity Control Behavior on page 86
Velocity Control Behavior In Velocity Control mode, there are two operative control methods supported,
Closed Loop Velocity Control and Open Loop Frequency Control.
Closed Loop Velocity Control model
Targeted for applications that require tight speed regulation. The following
diagram provides an overview of this method.
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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 on page 87
Open Loop Frequency Control on page 90
Closed Loop Velocity Control The Closed Loop Velocity Control method is targeted for applications that
require tight speed regulation. The command input to the velocity loop can be
derived directly from the Velocity Command of the Command Generator when
configured for Velocity Control Mode or from the Position Loop Output when
configured for Position Control Mode.
When serving as an outer velocity loop in Velocity Control Mode, the device
applies the Velocity Command input to the velocity command summing junction
to generate the Velocity Reference signal into a PI regulator. Contributing to the
velocity command summing junction also is the Velocity Trim input, which can
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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. Input signals that are not applicable to the configured control
mode are generally set to zero.
Velocity Limiter
The output of the velocity command summing junction signal passes through a
limiter to produce the Velocity Reference signal into the velocity loop. The
Velocity Limiter applies a directional velocity limit, either Velocity Limit - Pos or
Velocity Limit - Neg, to the velocity command signal input that is based on the
sign.
Velocity Feedback Selection
Feedback to the PI regulator can be derived from either of the two available
feedback transducers, Feedback 1 or Feedback 2. Which feedback source is used by
the loop is governed by the Feedback Mode enumeration. If Feedback Mode is No
Feedback, indicating sensorless operation, the Velocity Feedback signal is
estimated by the Sensorless Velocity signal generated by the sensorless control
algorithm. If an optional Load Observer is configured for Velocity Estimate
operation, the Velocity Feedback signal is the Load Observer Velocity Estimate.
Velocity Error Filter
A low pass filter can be optionally applied to the velocity error signal generated by
the velocity loop summing junction. The output of this filter becomes the Velocity
Error signal that is subsequently operated on by the velocity loop PI control
algorithm. When used, the filter is typically set between 5 to 10 times the velocity
loop bandwidth. It is recommended that this filter be a two pole IIR filter to
maximum its effectiveness at quantization noise filtering.
Velocity Gains
The velocity loop generates a Velocity Loop Output signal to the next inner loop
through a PI control loop structure. The Proportional Gain of the controller sets
the unity gain bandwidth of the velocity loop in radians/second, while the Integral
Gain is used to drive the Velocity Error signal to zero to compensate for any static
and quasi-static torque or forces applied to the load. The integrator path includes a
Proportional Gain so that units of the Integral Gain represent the bandwidth of
the integrator in radians/second.
The integral section of the velocity regulator includes an anti-windup feature. The
anti-windup feature automatically holds the regulator's integral term when a limit
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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.
The integrator may also be configured for integrator hold operation. When the
Integrator Hold attribute is set true, the regulator holds the integrator from
accumulating while the axis is being commanded to move. This behavior is helpful
in point-to-point positioning applications.
An automatic preset feature of the velocity regulator's integral term occurs when a
transition is made from a Torque Control mode to speed control, by using the
Control Mode selection parameter. Upon transition to speed mode, the speed
regulator's integral term is preset to the motor torque reference parameter. If the
speed error is small, this provides a 'bumpless' transition from the last torque
reference value present just prior to entering speed mode.
Negative Feedforward
Aside from the normal PI control elements, a negative feedforward gain (Knff ) is
provided to adjust the time response of the velocity regulator. Knff has a range of
0…100%, where 0 disables the function. A value of 30% results in little noticeable
overshoot in the speed response to a step input. This can be easily observed when
the motor speed is ramped to zero. The effect of negative feedforward is to
eliminate backup of the motor shaft. The Knff gain setting has no effect on the
stability of the speed regulator. A disadvantage of by using negative feedforward is
that it results in a time lag in feedback response to a reference ramp input.
Velocity Droop
Another feature of the velocity regulator is the velocity droop function. The
velocity error input to the integral term is reduced by a fraction of the velocity
regulator's output, as controlled by the droop gain setting, Kdr. As torque loading
on the motor increases, actual motor speed is reduced in proportion to the droop
gain. This is helpful when some level of compliance is required due to rigid
mechanical coupling between two motors.
Acceleration Feedforward
The velocity loop requires a non-zero velocity loop output to generate steady- state
axis motor acceleration. To provide the non-zero output from the drive to the
motor, a non-zero velocity error is generally required. In Position Control
applications, this non-zero velocity error translates to a non-zero position loop
error.
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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. The preferred
approach with superior dynamic response is to use Acceleration Feedforward.
The Acceleration Feedforward feature is used to generate the bulk of the
Acceleration Reference necessary to generate the commanded acceleration. It does
this by scaling the Fine Acceleration Feedforward generated by the Command
Generator by the Acceleration Feedforward Gain and adding the resultant
Acceleration Feedforward Command signal as an offset to the output of the
velocity loop. With this feature, the velocity loop does not need to generate much
control effort, thus reducing the amount of control loop error.
Theoretically, the optimal value for Acceleration Feedforward is 100%. In reality,
however, the value may need to be adjusted to accommodate variations in load
inertia and the torque constant of the motor. Like Velocity Feedforward,
Acceleration Feedforward can result in overshoot behavior and should not be used
in point-to-point positioning applications.
When used in conjunction with Velocity Feedforward, Acceleration Feedforward
allows the following error of the position or Velocity Control loop to be reduced
to nearly zero during the acceleration and deceleration phases of motion. This is
important in tracking applications that use electronic gearing and camming
operations to precisely synchronize a slave axis to the movements of a master axis.
See also
Position Control Behavior on page 65
Velocity Feedforward on page 66
Open Loop Frequency Control Another Velocity Control method is the open loop Frequency Control method
associated with so called Volts/Hertz or Variable Frequency Drives (VFDs) that
do not have a current control loop and typically drive an induction motor.
Velocity control with this method is achieved by controlling the voltage and
frequency output of the drive device in some manner where voltage is generally
proportional to frequency. For an induction motor, the velocity of the motor is
determined by the Output Frequency of the drive device divided by the Motor
Pole count. This control method is applicable to Velocity Control applications
that do not require tight speed regulation and therefore do not require a feedback
device.
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Behavior models used in CIP Motion Chapter 2
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. As the name
indicates, Start Boost is used to provide a non-zero output voltage to the motor at
stand-still to assist startup.
The contribution of Start Boost to the output voltage of the drive device tapers off
to zero when the motor reaches the Break Frequency. Above the break point,
output voltage and output frequency follow a linear slope to the point defined by
the Motor Rated Frequency and Motor Rated Voltage. From this point on, the
Volts/Hertz curve follows another linear slope to the point defined by the Max
Frequency and Max Voltage attributes. This segment of the Volts/Hertz curve
allows for operation above the rated frequency and voltage of the motor in
applications where that is required.
Sensorless Vector Operation
Sensorless Vector is an alternative Velocity Control Method that does not require
configuration of a Volts/Hertz curve. Instead, by knowing the Stator Resistance
and Leakage Inductance of the motor, the drive device can calculate the
appropriate Output Voltage required for a given Output Frequency. This method
provides better low speed Velocity Control behavior than by using the Basic
Volts/Hertz method.
Slip Compensation
When driving an induction motor at a specific frequency, the actual motor
velocity is generally less than the command speed, given by the output frequency
divided by the motor pole count, by an amount that is proportional to the load
torque applied to the motor. This difference in speed is called 'Slip' and is a
configuration attribute associated with the motor. The Motion Device Axis
Object supports a Slip Compensation feature that is common to Variable
Frequency Drives. The amount of Slip Compensation applied to the Velocity
Reference is the product of the measured torque producing current, Iq, and the
configured Induction Motor Rated Slip Speed.
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Velocity Droop
Another feature defined for the Frequency Control method is the droop function.
The droop function reduces the velocity reference by a scaled fraction of the
torque producing current, Iq, as controlled by the droop gain setting, Kdr. As
torque loading on the motor is increased, actual motor speed is reduced in
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 on page 86
Torque Control Behavior on page 78
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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.
This table provides an explanation of the information, nomenclature, and
abbreviations used in the attribute tables.
Attribute Table Column Heading Descriptions
Column Heading Description
The following identifiers are used for usage:
• Required
This is a required attribute. It is supported for the listed control modes for each
attribute.
• Optional
This is an optional attribute. It is supported for the listed control modes for each
attribute. Optional attributes are based on the specific drive that has been
associated.
• Replicated
Usage For a listing of the attributes that are replicated in the drive see Identify Motion
Axis Attributes Based on Device Function Codes on page 102.
(Implementation)
In the Usage column, you will also see combinations of Usage and Mode, such as the
following:
C PVT Closed Loop Vector Control Method
D FC Drive (Any Frequency Controlled or Vector Controlled drive device)
In addition to these combinations there are many attributes that are applicable or
not applicable to sensorless drive operation, for example, velocity controlled drives
operating without a feedback device. To accommodate these situations, the
following Device Function Codes are used:
• E Encoder present.
• !E Encoderless/sensorless control, feedback device is not present.
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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:
• Individual codes:
B = Bus Power Converters (No Control Mode, No Control Method)
G = Regenerative (Active) AC/DC Converters (No Control Mode, No Control
Method)
N = Non-Regenerative (Passive) AC/DC and DC/DC Converters (No Control Mode,
No Control Method)
E = Encoder present, Feedback Only (No Control Mode, No Control Method)
F= Frequency Control (Velocity Control Mode, Frequency Control Method)
P = Position Loop (Position Control Mode, Closed Loop Vector Control Method)
V = Velocity Control Loop (Velocity Control Mode, Closed Loop Vector Control
Method)
Device Control Codes (mode)
T = Torque Control Loop (Torque Control Mode, Closed Loop Vector Control
Method)
C\D = Identifies the attributes that have a matching, or replicated attributes in
the associated device/drive.
• Combination codes:
BE = All device functions using No Control Method (N)
O = All device functions using Open Loop Control Methods -Frequency Control
(F)
GN = All Bus Power Converters or Bus Power Supplies, Regenerative and
Non-Regenerative
C = All device functions using Closed Loop Control Methods (P, V, T)
D = All device functions using Control Methods (FC)
• Encoderless/sensorless drive codes:
E Encoder present. (N, P ,V ,T with Feedback device present.)
!E Encoderless/sensorless control, feedback device is not present.(Closed Loop
Sensorless Vector and Frequency Controlled)
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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.
• Set = Set Attribute List service
SSV = Can be written using the Set System Variable instruction
Set/SSV* = Indicates the attribute cannot be set while the drive power structure
is enabled (Power Structure Enable bit in CIP Axis Status is true).
Set/SSV# = Indicates the attribute cannot be set while the tracking command
(Tracking Command bit in CIP Axis Status is true).
Set/GSV = Indicates the attribute can only be set when the axis is created on
download and cannot be changed either online or programmatically.
Access Rules Set/SSV = Indicates the attribute can only be set by configuration software on
initial configuration download and cannot be set programmatically.
• MSG
Message is only used to access drive attributes for which there is no GSV/SSV
access.
In order to use a MSG instruction to access information from a drive, you will
need the Attribute and Class IDs.
Important: You can only access attributes with a message command if they are
marked as MSG accessible in tables or text. If you attempt to access an attribute
that is not marked as MSG accessible, expect inaccurate data to be returned to
the controller.
• Logix Designer
This attribute is only available in the Logix Designer application through the Axis
Properties Dialog boxes.
T Can be accessed as an Axis Tag
Data Type For example, DINT, UINT, SINT, REAL, BOOL
DB = Motion Database
Indicates that the default value comes from the database.
FD = Factory Default computed value
∞ = max float = 3.402.... x 1038
0+ = min float = 1.2.... x 10-38
maxpos = 231/Conversion Constant
maxspd = 1000 * maxpos
Default, Minimum, Maximum minspd = minfloat
Range Limits maxacc = 1000 * maxspd
minacc = minfloat
maxint = 215 - 1
maxdint = 231 - 1
- (dash) = Not Applicable
N/A = Not Applicable
Defaults = Unless otherwise specified, all optional attributes default to 0. All
reserved and otherwise unused bits and enumerations are set to 0.
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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.
There may be additional information in the description that directly follows the
attribute listing.
CST Coordinated System Time
See also
Device Function Codes on page 97
CIP Data Types on page 97
Identify Motion Axis Attributes Based on Device Function Codes on page
102
CIP Axis Attributes on page 259
Attribute Units Attribute Units define the unit nomenclature found in the Semantics of Values
column for many of the Motion Control Axis Attributes. In general, attribute
values are specified in units that are relevant to motion control engineers.
Attribute Unit Cross-referencing
Attribute Unit Applicable Units Semantics of Values
User-defined unit of measure of motion displacement, for
Position Unit User String example, meters, feet, inches, millimeters, revolutions, or
degrees.
Velocity Units Position Units/Sec For example, Revs/Sec, Inches/Sec
Accel Units Position Units/Sec2
For example, Revs/Sec2 , Inches/Sec2
Jerk Units Position Units/Sec3 For example, Revs/Sec3 , Inches/Sec3
Defined as the percentage of the continuous rating of the
device with 100% implying operation at the continuous rated
specification for the device.
This unit can be applied to attributes related to speed,
torque, force, current, voltage, and power.
% Device Rated % Applicable devices can be a motor, inverter, converter, or a
bus regulator.
This unit can be used independent of whether the attribute
value represents an instantaneous level or a time-averaged
level; the appropriate unit for the device rating is implied. As
with all attributes that are in units of %, an attribute value of
100 means 100%.
Power Units Kw Kilowatts
Inertia Units Kg-m2 Kilogram-Meter2
Mass Units Kg Kilogram
Loop Bandwidth Units Hz Hertz
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Attribute Unit Applicable Units Semantics of Values
Filter Frequency Units Hz Hertz
Fundamental control unit for distance.
Counts
For example, feedback counts or planner counts.
See also
CIP Data Types on page 97
CIP Axis Attributes on page 259
CIP Data Types This table provides descriptions of the CIP Data Types related to the CIP Motion
Control Axis.
Data Type Data Type Code Description Range
Name (hex)
BOOL* C1 Boolean 0 = FALSE; 1 = TRUE
SINT C2 Short Integer -128 SINT 127
INT C3 Integer -32768 INT 32767
DINT C4 Double Integer -231 DINT (231 – 1)
LINT C5 Long Integer -263 LINT (263 – 1)
USINT C6 Unsigned Short Integer 0 USINT 255
UINT C7 Unsigned Integer 0 UINT 65536
UDINT C8 Unsigned Double Integer 0 UDINT (232 – 1)
ULINT C9 Unsigned Long Integer 0 ULINT (264 – 1)
REAL CA Single Precision Float See IEEE 754
LREAL CB Double Precision Float See IEEE 754
BYTE D1 bit string – 8-bits N/A
WORD D2 bit string – 16-bits N/A
DWORD D3 bit string – 32-bits N/A
LWORD D4 bit string – 64-bits N/A
SHORT STRING DA {length, 1-byte characters[n]} N/A
* BOOL data type is defined by CIP standard to be an 8-bit unsigned integer with enumeration of 0 for False and 1 for
True.
See also
CIP Axis Attributes on page 259
Device Function Codes The variations in Control Mode and Control Method result in a set of basic
Device Function Codes that help organize the many attributes of the Motion
Control Axis. Device Function Codes are designated by using a letter identifier or
a combination that you can use to determine what attributes are required for
implementation of a given CIP Motion device. The list of Device Function Codes
is as follows:
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Chapter 3 Interpret the Attribute Tables
Device Function Code Control Mode Control Method
G Regenerative (Active) AC/DC No Control Mode No Control Method
Converters
N Non-Regenerative (Passive) No Control Mode No Control Method
AC/DC and DC/DC Converters
E Encoder, Feedback Only No Control Mode No Control Method
P Position Loop Position Control Mode Closed Loop Vector Control Method
V Velocity Loop Velocity Control Mode Closed Loop Vector Control Method
T Torque Loop Torque Control Mode Closed Loop Vector Control Method
F Frequency Control Velocity Control Mode Frequency Control Method (V/Hz or VFD)
Device Function Code Combinations
Using combinations of these letters, a specific class of CIP Motion devices can be
designated for the purposes of identifying applicable attributes. For example, 'FV'
would refer to the class of all velocity controlled drives, either vector controlled or
frequency controlled. Here are some combinations that appear frequently:
Device Function Code Represents Description
Combination
B GN All Bus Power Converters or Bus Power Supplies,
Regenerative and Non-Regenerative
C PVT All Device Functions using Closed Loop Control
Methods (PI Vector Control Method)
D FC All device functions using Control Methods (Control
Method !=No Control)
Conditional Implementations
There are many conditions that impact implementation of attributes. Some
examples are, encoderless or sensorless drive operation, velocity controlled drives
operating without a feedback device, and attributes that are replicated between the
controller and the device. Conditional implementation rules for attributes in these
situations are represented by the following Device Functions Codes:
Device Function Code Description
E Encoder-based device operation
!E Encoderless or Sensorless device operation
See also
Attribute Units on page 96
CIP Data Types on page 97
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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.
For Instance Attributes, the determination of whether a given attribute or service
is Required or Optional often depends on the associated Device Function Code.
Required Implementation
If an attribute is marked as Required for a given Device Function Code then the
controller implementation, including configuration and programming the
software, support that attribute if the end device is intended to operate in that
mode. For example, an attribute marked as Required for Device Function Code 'V'
is supported by any controller that intends to interface to a CIP Motion device
that supports Velocity Loop operation.
In some cases an attribute or service may not even be applicable to a given Device
Function Code. This situation is implied when the attribute is defined as neither
Required nor Optional for that code. The Required and Optional classification of
a given attribute can therefore be used in configuration software design to
determine if the attribute is applicable and requires user entry.
Conditional Implementation
In some cases attributes have different rules for different conditions; a motor
attribute might be Required for Permanent Magnet Motors but Optional for
Induction Motors. For that case, a C would be placed under the supported Device
Function Codes and the Conditional Implementation column would show the
differentiation between the motor types.
Attributes can be 'Required' in the controller, but 'Optional' as a replicated
attribute to the drive. Again, a C would be placed under the applicable Device
Function Codes and the Conditional Implementation column would show the
differentiation between the Controller only and Drive replicated implementation.
Attribute Enumeration and Bit definitions are also designated as Required,
Optional, or Conditional, with an appropriate Device Function Code if
applicable. If no designation is associated with the Enumeration or Bit definition,
then it is assumed that the enumeration is Required in the implementation.
For some attributes, there are conditional implementation rules that extend
beyond the Device Function Code. These rules are specified in the Conditional
Implementation column of the attribute table.
In the following example table, the attribute PM Motor Resistance is required in
the implementation if the device supports Frequency Control, Position Control,
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Chapter 3 Interpret the Attribute Tables
Velocity Control, or Torque Control and the device supports Permanent Magnet
motors. The attribute is not applicable "-" for a Bus Power Converter or a
Feedback Only device or a drive that does not support a PM motor.
Attribute ID Access Attribute G N E F P V T Conditional
Rule Implementation
1327 Set PM Motor R R R R PM Motor Only
Resistance
To get details about how to specify the attribute, refer to the attributes list for the
functional category. For this example, PM Motor Resistance is a member of the
General Permanent Magnet Motor Attributes category. The following table
provides an example of the details information:
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/SSV* REAL 0 0 - Ohms
DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis
Status is true).
When you are reviewing the tables for an attribute remember that Vendor Specific
attributes, attribute enumerations, and bits, are Optional by definition. Attributes
that have Optional enumerations or bit maps are designated so in the Condition
Implementation column. Details about Optional and Required support for the
individual enumerations or bits for these attributes can be found in the detailed
attribute behavior tables.
The software queries the specific drive profile, Add-on Profile (AOP), to
determine if the Optional attributes listed in the table are supported. Attributes
that are marked with an AOP in the Conditional Implementation column have
semantics with additional, drive specific, optional behavior that is queried.
If the conditional implementation column reads "Derived", it means that the value
for an attribute is determined (derived) by the controller based on the value of
another attribute. In this case, the current attribute follows the conditional
implementation rules of the attribute from which it is derived. Derived attributes
do not need to be downloaded to the controller but do need to be supported by
setting the appropriate bits in the Drive Set Attribute Update Bits attribute, if
applicable.
Conditional Implementation Key
The following table identifies the key abbreviations used in the conditional
column of the attributes tables and provides a description of the condition it
represents.
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Key Description
AOP Add-on Profile. Logix Designer component that can be separately installed and used for
configuring one or more modules.
Co Controller only attribute (controller attribute that resides only in controller)
CScale Motion Scaling Configuration set to Controller Scaling
Derived Implementation rules follow another attribute
Drive Scaling Drive device supports drive scaling functionality
Dr Drive replicated attribute (controller attribute that is replicated in drive)
DScale Motion Scaling Configuration set to Drive Scaling
DSL Hiperface DSL (feedback type)
E Encoder-based control, a feedback device is present
!E Encoderless or sensorless control, a feedback device in not present
ED EnDat 2.1 and EnDat 2.2 (feedback type)
HI Hiperface (feedback type)
IM Rotary or Linear Induction Motor (motor type)
IPM Rotary or Linear Interior Permanent Magnet motor (motor type)
Linear Absolute Feedback Unit - meter; Feedback n Startup Method- absolute
Linear Motor Linear PM motor or Linear Induction motor (motor type)
LT LDT or Linear Displacement Transducer (feedback type)
NV Motor NV or Drive NV (motor data source)
O-Bits Optional bits associated with bitmapped attribute
O-Enum Optional enumerations associated with attribute
PM Rotary or Linear Permanent Magnet motor (SPM or IPM) (motor type)
Rotary Absolute Feedback Unit - rev; Feedback n Startup Method- absolute
Rotary Motor Rotary PM motor or Rotary Induction motor (motor type)
RS Resolver (feedback type)
Safety only Applicable to Integrated Motion on the EtherNet/IP network safety devices only
SC Sine/Cosine (feedback type)
SL Stahl SSI (feedback type)
SPM Rotary or Linear Surface Permanent Magnet motor (motor type)
SS SSI (feedback type)
TM Tamagawa (feedback type)
TP Digital Parallel (feedback type)
TT Digital AqB (feedback type)
See also
Motion Control Modes on page 20
Identify Motion Axis Attributes Based on Device Control Codes on page
102
Interpreting the Attribute Tables on page 93
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Identify Motion Axis The following table provides an alphabetical list of all Motion Axis Attributes
specific to the CIP Drive data type. The table identifies whether the attribute is
Attributes Based on Device Required (R), Optional (O), or Conditional (C), in implementation based on the
Function Codes Device Function Code. Attributes that are not applicable for a device function
code are denoted by a dash (-).
The Device Function Codes are:
• G – Regenerative (Active) AC/DC Converters (No Control Mode, No
Control Method)
• N - Non-Regenerative (Passive) AC/DC 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)
• V – Velocity Loop (Velocity Control Mode, Closed Loop Vector Control
Method)
• T – Torque Loop (Torque Control Mode, Closed Loop Vector Control
Method)
• F – Frequency Control (Velocity Control Mode, Frequency Control
Method)
The C/D column states whether the attribute is replicated in the drive.
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
2011 Get T AC Line Current R - - - - - - Yes V32
2034 Set AC Line Current Unbalance Limit O - - - - - - Yes V32
2225 Get T AC Line Electrical Angle O - - - - - - Yes V32
2010 Get T AC Line Frequency R - - - - - - Yes V32
2245 Set AC Line Frequency Change Action O - - - - - - Yes V32
2246 Set AC Line Frequency Change Threshold O - - - - - - Yes V32
2247 Set AC Line Frequency Change Time O - - - - - - Yes V32
2284 Set AC Line High Freq User Limit O - - - - - - Yes V32
2286 Set AC Line High Freq User Limit - Alternate O - - - - - - Yes V32
2285 Set AC Line Low Freq User Limit O - - - - - - Yes V32
2287 Set AC Line Low Freq User Limit - Alternate O - - - - - - Yes V32
2280 Set AC Line Overvoltage User Limit O - - - - - - Yes V32
2282 Set AC Line Overvoltage User Limit - Alternate O - - - - - - Yes V32
2041 Set AC Line Source Impedance O - - - - - - Yes V32
2043 Set AC Line Source Impedance - Alternate O - - - - - - Yes V32
2042 Set AC Line Source Power O - - - - - - Yes V32
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Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
2044 Set AC Line Source Power - Alternate O - - - - - - Yes V32
2040 Set AC Line Source Select O - - - - - - Yes V32
2035 Set AC Line Sync Error Tolerance O - - - - - - Yes V32
2248 Set AC Line Sync Loss Action O - - - - - - Yes V32
2249 Set AC Line Sync Loss Time O - - - - - - Yes V32
2281 Set AC Line Undervoltage User Limit O - - - - - - Yes V32
2283 Set AC Line Undervoltage User Limit - Alternate O - - - - - - Yes V32
2012 Get T AC Line Voltage R - - - - - - Yes V32
2242 Set AC Line Voltage Sag Action O - - - - - - Yes V32
2241 Set AC Line Voltage Sag Threshold O - - - - - - Yes V32
2241 Set AC Line Voltage Sag Time O - - - - - - Yes V32
2014 Set AC Line Voltage Time Constant O - - - - - - Yes V32
2033 Set AC Line Voltage Unbalance Limit O - - - - - - Yes V32
483/138 Get T Acceleration Feedback - - R - R R R Yes
452 Get T Acceleration Feedforward Command - - - - R R - Yes
460/216 Set T Acceleration Feedforward Gain - - - - R R - Yes
367 Get T Acceleration Fine Command - - - - O O O Yes
485 Set Acceleration Limit - - - O O O O Yes
482 Get T Acceleration Reference - - - - O O O Yes
481 Set T Acceleration Trim - - - - O O O Yes
2091 Set Active Current Command O - - - - - - Yes V32
2106 Get T Active Current Error O - - - - - - Yes V32
2118 Get T Active Current Feedback O - - - - - - Yes V32
2094 Set Active Current Low Pass Filter Bandwidth O - - - - - - Yes V32
2095 Set Active Current Notch Filter Frequency O - - - - - - Yes V32
2096 Set Active Current Rate Limit O - - - - - - Yes V32
2080 Get T Active Current Reference R - - - - - - Yes V32
2082 Get T Active Current Reference - Compensated R - - - - - - Yes V32
2081 Get T Active Current Reference - Filtered R - - - - - - Yes V32
2104 Get T Active Current Reference - Limited R - - - - - - Yes V32
2093 Set T Active Current Trim O - - - - - - Yes V32
53 Get T Actual Acceleration - - R R R R R
48 Get T Actual Position - - R R R R R
52 Get T Actual Velocity - - R R R R R
1376 Set Actuator Diameter - - C C C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
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Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
1377 Set Actuator Diameter Unit - - C C C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
1374 Set Actuator Lead - - C C C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
1375 Set Actuator Lead Unit - - C C C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
1373 Set Actuator Type - - C C C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
836 Set Adaptive Tuning Configuration - - - - O O O Yes V26
844 Get T Adaptive Tuning Gain Scaling Factor - - - - O O O Yes V26
732/267 Get T Analog Input 1 O O - O O O O Yes
733/268 Get T Analog Input 2 O O - O O O O Yes
734 Set T Analog Output 1 O O - O O O O Yes
735 Set T Analog Output 2 O O - O O O O Yes
201 Set Application Type - - - - R R -
164 Get T Attribute Error Code R R R R R R R
165 Get T Attribute Error ID R R R R R R R
873 Set Auto Sag Configuration - - - O O O O Yes E, V26
874 Set Auto Sag Slip Increment - - - O O O O Yes E, V26
875 Set Auto Sag Slip Time Limit - - - O O O O Yes E, V26
876 Set Auto Sag Start - - - O O O O Yes E, V26
51 Get T Average Velocity - - R R R R R
81 Set Average Velocity Timebase - - R R R R R
1 Get Axis Address R R R R R R R
30 Set Axis Configuration R R R R R R R Optional Enumeration
12 Get Axis Configuration State R R R R R R R
11 Get Axis Data Type R R R R R R R
35 Get T Axis Event Bits R R R R R R R
34 Get T Axis Fault Bits R R R R R R R
19 Set Axis Features R R R R R R R Optional bit maps
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Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
106 Set Axis ID R R R R R R R
2 Get Axis Instance R R R R R R R
753 Get T Axis Safety Alarms - - O O O O O Yes V32
754 Get T Axis Safety Alarms - Mfg - - O O O O O Yes V32
988 Get T Axis Safety Alarms - RA - - O O O O O Yes V32
986 Get T Axis Safety Data A - - - O O O O Yes V31
987 Get T Axis Safety Data B - - - O O O O Yes V31
763 Get T Axis Safety Faults - - O O O O O Yes V24
985 Get T Axis Safety Faults - RA - - O O O O O Yes V31
760 Get T Axis Safety State - - O O O O O Yes V24
761 Get T Axis Safety Status - - O O O O O Yes V24
984 Get T Axis Safety Status - RA - - O O O O O Yes V31
13 Get Axis State R R R R R R R
33 Get T Axis Status Bits R R R R R R R
124 Set Axis Update Schedule R R R R R R R
825 Set Backlash Compensation Window - - - - O - - Yes
423 Set Backlash Reversal Offset - - - - R - - E
593 Set Brake Prove Ramp Time - - - O O O O Yes E, V26
594 Set Brake Slip Tolerance - - - O O O O Yes E, V26
592 Set Brake Test Torque - - - O O O O Yes E, V26
576 Set Break Frequency - - - R - - - Yes Basic V/Hz only
575 Set Break Voltage - - - R - - - Yes Basic V/Hz only
816 Set Bus Observer Bandwidth O - - - - - - Yes Voltage Control only, V32
815 Set Bus Observer Configuration O - - - - - - Yes Optional Enumeration
Voltage Control only, V32
812 Get T Bus Observer Current Estimate O - - - - - - Yes Voltage Control only, V32
817 Set Bus Observer Integrator Bandwidth O - - - - - - Yes Voltage Control only, V32
811 Get T Bus Observer Voltage Rate Estimate O - - - - - - Yes Voltage Control only, V32
255 Set Bus Overvoltage Operational Limit - - - - R R R V29
638/262 Get T Bus Regulator Capacity O O - O O O O Yes
2054 Get T Bus Voltage Error R - - - - - - Yes Voltage Control only, V32
2065 Set Bus Voltage Error Tolerance O O - - - - - Yes Voltage Control only - G, V32
2066 Set Bus Voltage Error Tolerance Time O O - - - - - Yes Voltage Control only - G, V32
2053 Get T Bus Voltage Feedback R - - - - - - Yes Voltage Control only, V32
2063 Set Bus Voltage Integrator Bandwidth R - - - - - - Yes Voltage Control only, V32
2062 Set Bus Voltage Loop Bandwidth R - - - - - - Yes Voltage Control only, V32
2064 Set Bus Voltage Rate Limit O - - - - - - Yes Voltage Control only, V32
2050 Get T Bus Voltage Reference R O - - - - - Yes Voltage Control only - G, V32
2061 Set Bus Voltage Reference Source O - - - - - - Yes Voltage Control only, V32
2060 Set T Bus Voltage Set Point R O - - - - - Yes Voltage Control only - G, V32
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Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
8 Set C2C Connection Instance R R R R R R R
7 Set C2C Map Instance R R R R R R R
756 Get CIP APR Faults - - C - C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling; V27; E
905 Get T CIP APR Faults - RA - - C - C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling; V27; E
26 Get CIP Axis Alarm Log R R R R R R R
127 Get CIP Axis Alarm Log Count R R R R R R R
28 Set CIP Axis Alarm Log Reset R R R R R R R
659 Get T CIP Axis Alarms O O O O O O O Yes
904 Get T CIP Axis Alarms - RA O O O O O O O Yes
746 Get T CIP Axis Alarms 2 O O O O O O O Yes V32
927 Get T CIP Axis Alarms 2 - RA O O O O O O O Yes V32
672 Set CIP Axis Exception Action R R R R R R R Yes Optional Enumeration
748 Set CIP Axis Exception Action 2 R O O O O O O Yes Optional Enumeration
V32
908 Set CIP Axis Exception Action - RA R R R R R R R Yes Optional Enumeration
909 Set CIP Axis Exception Action 2 - RA R O O O O O O Yes Optional Enumeration
V32
25 Get CIP Axis Fault Log R R R R R R R
126 Get CIP Axis Fault Log Count R R R R R R R
27 Set CIP Axis Fault Log Reset R R R R R R R
657 Get T CIP Axis Faults R R R R R R R Yes
744 Get T CIP Axis Faults 2 R O O O O O O Yes V32
903 Get T CIP Axis Faults - RA R R R R R R R Yes
926 Get T CIP Axis Faults 2 - RA R O O O O O O Yes V32
653 Get T CIP Axis I/O Status R R R R R R R Yes
901 Get T CIP Axis I/O Status - RA R R R R R R R Yes
650 Get T CIP Axis State R R R R R R R Yes
651 Get T CIP Axis Status R R R R R R R Yes
740 Get T CIP Axis Status 2 R O O O O O O Yes V32
900 Get T CIP Axis Status - RA R R R R R R R Yes
924 Get T CIP Axis Status 2 - RA R O O O O O O Yes V32
168 Set CIP Controller Get Attr Update Bits R R R R R R R
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Interpret the Attribute Tables Chapter 3
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
167 Set CIP Controller Set Attr Update Bits R R R R R R R
241 Set CIP Drive Get Attr Update Bits R R R R R R R
240 Set CIP Drive Set Attr Update Bits R R R R R R R
674 Get T CIP Initialization Faults R R R R R R R Yes
910 Get T CIP Initialization Faults- RA R R R R R R R Yes
676 Get T CIP Start Inhibits R R R R R R R Yes
912 Get T CIP Start Inhibits - RA R R R R R R R Yes
617 Set Coasting Time Limit - - - O O O O Yes V26
100 Get T Command Acceleration - - - R R R -
96 Get T Command Position - - - R R R -
95 Set* T Command Torque - - - - - R R
360 Set Command Update Delay Offset - - - - R R - E
99 Get T Command Velocity - - - R R R -
561 Set Commutation Offset - - - - R R R Yes E; PM Motor only
850 Set Commutation Offset Compensation - - - - O O O Yes E; IPM Motor only, V29
563 Set Commutation Polarity - - - - O O O Yes E; PM Motor only
562 Set Commutation Self-Sensing Current - - - - O O O Yes E; PM Motor only, AOP
618 Set Connection Loss Stopping Action - - - O O O O Yes V31
41 Get Control Method R R R R R R R Yes Derived – Axis Config
40 Set* Control Mode R R R R R R R Yes Derived – Axis Config
82 Set Conversion Constant - - R R R R R
2030 Set Converter AC Input Frequency O - - - - - - Yes V32
2031 Set Converter AC Input Phasing O - - - - - - Yes V32
2032 Set Converter AC Input Voltage O - - - - - - Yes V32
637 Get T Converter Capacity O O - O O O O Yes
1280 Set Converter Configuration R - - - - - - V32; Optional Enumeration
2001 Set* Converter Control Mode R - - - - - - Yes V32; Derived - Converter
Config
2231 Set Converter Current Integrator Bandwidth O - - - - - - Yes V32
2103 Get T Converter Current Limit Source O - - - - - - Yes V32
2230 Set Converter Current Loop Bandwidth O - - - - - - Yes V32
1065 Set Converter Current Loop Bandwidth Base R - - - - - - V32
2322 Set Converter Current Loop Damping O - - - - - - Yes V32
2321 Set Converter Current Loop Tuning Method O - - - - - - Yes V32
2232 Set Converter Current Vector Limit O - - - - - - Yes V32
1069 Set Converter DC Bus Capacitance R - - - - - - V32
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Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
709 Set Converter Ground Current User Limit O - - - - - - Yes V32
2288 Set Converter Heatsink Overtemp User Limit O - - - - - - Yes V32
2243 Set Converter Input Phase Loss Action O - - - - - - Yes V32
2244 Set Converter Input Phase Loss Time O - - - - - - Yes V32
2289 Set Converter Line Overload User Limit O - - - - - - Yes V32
1049 Set Converter Model Time Constant R - - - - - - V32
1064 Set Converter Model Time Constant Base R - - - - - - V32
596 Set Converter Motoring Power Limit O O - - - - - Yes V32
2100 Get T Converter Operative Current Limit O - - - - - - Yes V32
605 Get T Converter Output Current O O - O O O O Yes V26
606 Get T Converter Output Power O O - O O O O Yes V26
2268 Set Converter Overload Action O - - - - - - Yes Optional Enumeration
V32
700 Set Converter Overtemperature User Limit O - - - - - - Yes V32
921 Set Converter Pre-Charge Overload User Limit O - - - - - - Yes V32
1066 Set Converter Rated Current R - - - - - - V32
1067 Set Converter Rated Peak Current R - - - - - - V32
1068 Set Converter Rated Voltage R - - - - - - V32
626 Set Converter Regenerative Power Limit O O - - - - - Yes V32
2003 Set Converter Startup Method O - - - - - - Yes V32
701 Set Converter Thermal Overload User Limit O - - - - - - Yes V32
520 Get T Current Command - - - - R R R Yes
840 Set T Current Disturbance - - - - O O O Yes
527 Get T Current Error - - - - O O O Yes
529 Get T Current Feedback - - - - O O O Yes
522 Get T Current Limit Source - - - O O O O Yes F Support in V29
524 Get T Current Reference - - - - O O O Yes
553 Set Current Vector Limit - - - O O O O Yes
46 Set Cyclic Read Update List R R R R R R R
47 Set Cyclic Write Update List R R R R R R R
196 Set Damping Factor R - - - R R R
620/266 Get T DC Bus Voltage R R - R R R R Yes
870 Set DC Injection Brake Current - - - O O O O Yes
872 Set DC Injection Brake Time - - - O O O O Yes
486 Set Deceleration Limit - - - O O O O Yes
730 Get T Digital Inputs O O - O O O O Yes
731 Set T Digital Outputs O O - O O O O Yes
105 Set* T Direct Command Velocity - R - R -
200 Set Drive Model Time Constant - - - - R R R
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Interpret the Attribute Tables Chapter 3
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
253 Set Drive Model Time Constant Base - - - - R R R
254 Set Drive Rated Peak Current - - - - R R R
120 Set Dynamics Configuration Bits - - - R R R -
1057 Set External DC Bus Capacitance R - - - - - - V32
1435 Set Feedback 1 Accel Filter Bandwidth - - O - O O O Yes E
2404 Set Feedback 1 Accel Filter Taps - - O - O O O Yes E
2405 Set Feedback 1 Battery Absolute - - O - O O O Yes E; Tamagawa (feedback type)
1417 Set Feedback 1 Cycle Interpolation - - R - R R R Yes E; Not Linear Displacement
Transducer (feedback type),
AOP
1416 Set Feedback 1 Cycle Resolution - - R - R R R Yes E; Not Linear Displacement
Transducer (feedback type)
1421 Set Feedback 1 Data Code - - O - O O O Yes E; Digital Parallel (feedback
type),SSI (feedback type)
1420 Set Feedback 1 Data Length - - O - O O O Yes E; Digital Parallel (feedback
type),SSI (feedback type)
1419 Set Feedback 1 Length - - R - R R R Yes E; Linear Absolute Only
2400 Set Feedback 1 Loss Action - - O - O O O Yes E
1414 Set Feedback 1 Polarity - - O - O O O Yes E
1425 Set Feedback 1 Resolver Cable Balance - - O - O O O Yes E; Resolver (feedback type)
1424 Set Feedback 1 Resolver Excitation Frequency - - O - O O O Yes E; Resolver (feedback type)
1423 Set Feedback 1 Resolver Excitation Voltage - - O - O O O Yes E; Resolver (feedback type)
1422 Set Feedback 1 Resolver Transformer Ratio - - O - O O O Yes E; Resolver (feedback type)
1401 Get Feedback 1 Serial Number - - O - O O O Yes E
1415 Set Feedback 1 Startup Method - - R - R R R Yes E; Optional Enumeration
1418 Set Feedback 1 Turns - - R - R R R Yes E; Rotary Absolute Only
1413 Set Feedback 1 Type - - R - R R R Yes E; Optional Enumeration
1411 Set Feedback 1 Unit - - R - R R R Yes E
1434 Set Feedback 1 Velocity Filter Bandwidth - - O - O O O Yes E
2403 Set Feedback 1 Velocity Filter Taps - - O - O O O Yes E
1485 Set Feedback 2 Accel Filter Bandwidth - - O - O O O Yes E
2454 Set Feedback 2 Accel Filter Taps - - O - O O O Yes E
2455 Set Feedback 2 Battery Absolute - - O - O O O Yes E; Tamagawa (feedback type)
1467 Set Feedback 2 Cycle Interpolation - - R - R R R Yes E; Not Linear Displacement
Transducer (feedback type),
AOP
1466 Set Feedback 2 Cycle Resolution - - R - R R R Yes E; Not Linear Displacement
Transducer (feedback type)
1471 Set Feedback 2 Data Code - - O - O O O Yes E; Digital Parallel (feedback
type),SSI (feedback type)
1470 Set Feedback 2 Data Length - - O - O O O Yes E; Digital Parallel (feedback
type),SSI (feedback type)
1469 Set Feedback 2 Length - - R - R R R Yes E; Linear Absolute Only
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Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
2450 Set Feedback 2 Loss Action - - O - O O O Yes E
1464 Set Feedback 2 Polarity - - O - O O O Yes E
1475 Set Feedback 2 Resolver Cable Balance - - O - O O O Yes E; Resolver (feedback type)
1474 Set Feedback 2 Resolver Excitation Frequency - - O - O O O Yes E; Resolver (feedback type)
1473 Set Feedback 2 Resolver Excitation Voltage - - O - O O O Yes E; Resolver (feedback type)
1472 Set Feedback 2 Resolver Transformer Ratio - - O - O O O Yes E; Resolver (feedback type)
1451 Get Feedback 2 Serial Number - - - - O O O Yes E
1465 Set Feedback 2 Startup Method - - R - R R R Yes E; Optional Enumeration
1468 Set Feedback 2 Turns - - R - R R R Yes E; Rotary Absolute Only
1463 Set Feedback 2 Type - - R - R R R Yes E; Optional Enumeration
1461 Set Feedback 2 Unit - - R - R R R Yes E
1484 Set Feedback 2 Velocity Filter Bandwidth - - O - O O O Yes E
2453 Set Feedback 2 Velocity Filter Taps - - O - O O O Yes E
250 Set Feedback Commutation Aligned - - - - O O O Yes E; PM Motor only,
Optional Enumeration
31 Set Feedback Configuration R R R R R R R Optional Enumeration
708 Set Feedback Data Loss User Limit - - O O O O O Yes E
42 Set* Feedback Mode - - R R R R R Yes Derived - Fdbk Config
706 Set Feedback Noise User Limit - - O O O O O Yes E
707 Set Feedback Signal Loss User Limit - - O O O O O Yes E
44 Set Feedback Unit Ratio - - - - O O - Yes E
871 Set Flux Braking Enable - - - O O O O Yes Ind Motor only
528 Get T Flux Current Error - - - - O O O Yes
530 Get T Flux Current Feedback - - - - O O O Yes
525 Get T Flux Current Reference - - - - O O O Yes
557 Set Flux Integral Time Constant - - - - O O O Yes
556 Set Flux Loop Bandwidth - - - - O O O Yes
558 Set Flux Up Control - - - O O O O Yes Ind Motor only,
Optional Enumeration
559 Set Flux Up Time - - - O O O O Yes Ind Motor only
380 Set Flying Start Enable - - - O - O - Yes
381 Set Flying Start Method - - - O - O - Yes V29
570 Set Frequency Control Method - - - R - - - Yes Optional Enumeration
498 Set Friction Compensation Sliding - - - - O O O Yes
499 Set Friction Compensation Static - - - - O O O Yes
500 Set Friction Compensation Viscous - - - - O O O Yes
826/421 Set Friction Compensation Window - - - - O - - Yes
189 Set Gain Tuning Configuration Bits - - - - R R R
3 Get Group Instance R R R R R R R
981/243 Get T Guard Faults - - O O O O Yes
110 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
980/242 Get T Guard Status - - - O O O O Yes
88 Set Home Configuration Bits - - R - R R R E
86 Set Home Direction - - - - R R - E
18 Get Home Event Task - - R R R R R E
85 Set Home Mode - - R - R R R E
90 Set Home Offset - - R - R R R E
89 Set Home Position - - R - R R R E
113 Set Home Return Speed - - - - R R - E
87 Set Home Sequence - - R - R R R Optional Enumeration; E
112 Set Home Speed - - - - R R - E
245 Get Hookup Test Commutation Offset - - R - R R R PM Motor only; E
246 Get Hookup Test Commutation Polarity - - R - R R R PM Motor only; E
109 Set Hookup Test Distance - - R - R R R E
247 Get Hookup Test Feedback 1 Direction - - R - R R R E
248 Get Hookup Test Feedback 2 Direction - - R - R R R E
111 Set Hookup Test Feedback Channel - - R - R R R E
244 Get Hookup Test Status - - R R R R R
110 Set Hookup Test Time - - - R - R - !E
1346 Set Induction Motor Flux Current - - - R R R R Yes Ind Motor only
1349 Set Induction Motor Magnetization Reactance - - - O O O O Yes Ind Motor only
1345 Set Induction Motor Rated Frequency - - - R R R R Yes Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - - O O O O Yes Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - - O O O O Yes Ind Motor only
1350 Set Induction Motor Rotor Resistance - - - O O O O Yes Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - - O O O O Yes Ind Motor only
1347 Set Induction Motor Stator Resistance - - - R R R R Yes Ind Motor only
20 Set Inhibit Axis R R R R R R R
60 Get T Interpolated Actual Position - - R - R R R E
101 Get T Interpolated Command Position - - - - R R - E
108 Set Interpolated Position Configuration - - R - R R R E
59 Set T Interpolation Time - - R - R R R E
636 Get T Inverter Capacity - - - R R R R Yes
647 Set Inverter Overload Action - - - O O O O Yes Optional Enumeration
699 Set Inverter Thermal Overload User Limit - - - O O O O Yes
1338 Set Linear Motor Damping Coefficient - - - O O O O Yes Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - - O O O O Yes Linear Motor only
1336 Set Linear Motor Mass - - - - O O O Yes Linear Motor only
1337 Set Linear Motor Max Speed - - - O O O O Yes Linear Motor only
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Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
1334 Set Linear Motor Pole Pitch - - - R R R R Yes Linear Motor only
1335 Set Linear Motor Rated Speed - - - R R R R Yes Linear Motor only
203 Set Load Coupling - - - - R R R
352 Set Load Inertia Ratio - - - - R R R
801 Get T Load Observer Acceleration Estimate - - - - O O O Yes
806 Set T Load Observer Bandwidth - - - - O O O Yes
805 Set Load Observer Configuration - - - - O O O Yes Optional Enumeration
809 Set Load Observer Feedback Gain - - - - O O O Yes
807 Set T Load Observer Integrator Bandwidth - - - - O O O Yes
802 Get T Load Observer Torque Estimate - - - - O O O Yes
205 Set Load Ratio - - - - R R R
1370 Set Load Type - - C C C C C Yes (R) Controller only attribute
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
750 Set Local Control O O O O O O O Yes Optional Enumeration
202 Set Loop Response R - - - R R -
4 Set Map Instance R R R R R R R
21 Set Master Input Configuration Bits - - R - R R - E
102 Get T Master Offset - - - R R R -
22 Set Master Position Filter Bandwidth - - R - R R - E
115 Set Maximum Acceleration - - - R R R -
118 Set Maximum Acceleration Jerk - - - R R R -
116 Set Maximum Deceleration - - - R R R -
119 Set Maximum Deceleration Jerk - - - R R R -
573 Set Maximum Frequency - - - R - - - Yes
114 Set Maximum Speed - - - R R R -
572 Set Maximum Voltage - - - R - - - Yes
614 Set Mechanical Brake Control - - - O O O O Yes
616 Set Mechanical Brake Engage Delay - - - O O O O Yes
615 Set Mechanical Brake Release Delay - - - O O O O Yes
10 Get Memory Usage R R R R R R R
9 Get Memory Use R R R R R R R
159 Get T Module Alarm Bits R R R R R R R
5 Set Module Channel R R R R R R R
6 Set Module Class Code R R R R R R R
163 Get T Module Fault Bits R R R R R R R
23 Get T Motion Alarm Bits - - R R R R R
29 Set Motion Exception Action - - R R R R R
112 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
24 Get T Motion Fault Bits - - R R R R R
79 Set Motion Polarity - - R R R R R Yes Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
78 Set Motion Resolution - - R R R R R Yes Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
45 Set Motion Scaling Configuration - - R R R R R Yes Drive Scaling only;
Optional Enumeration
32 Get T Motion Status Bits - - R R R R R
77 Set Motion Unit - - R R R R R Yes Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
635/259 Get T Motor Capacity - - - R R R R Yes
1310/251 Set Motor Catalog Number - - - C C C C Yes (R) Controller only attribute
!NV; (O) Drive replicated
attribute, NV
1313 Set Motor Data Source - - - R R R R Yes Optional Enumeration
1314 Set Motor Device Code - - - R R R R Yes
523/263 Get T Motor Electrical Angle - - - - R R R Yes PM Motor only
1323 Set Motor Integral Thermal Switch - - - O O O O Yes
1324 Set Motor Max Winding Temperature - - - O O O O Yes
646 Set Motor Overload Action - - - O O O O Yes Optional Enumeration
1322 Set Motor Overload Limit - - - O O O O Yes
695 Set Motor Overspeed User Limit - - - O O O O Yes
694 Set Motor Phase Loss Limit - - - O O O O Yes V26
1317 Set Motor Polarity - - - O O O O Yes
1319 Set Motor Rated Continuous Current - - - R R R R Yes
1321 Set Motor Rated Output Power - - - C C C C Yes O-PM; R-IM
1320 Set Motor Rated Peak Current - - - C C C C Yes R-PM; O-IM
1318 Set Motor Rated Voltage - - - R R R R Yes
1000 Get Motor Test Bus Overvoltage Speed - - - R R R R IPM Motor Only, V29
1001 Get Motor Test Commutation Offset Comp - - - R R R R IPM Motor Only, V29
174 Get Motor Test Counter EMF - - - R R R R PM Motor only
172 Get Motor Test Flux Current - - - R R R R Ind Motor only
171 Get Motor Test Inductance - - - R R R R
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 113
Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
999 Get Motor Test Ld Flux Saturation - - - R R R R IPM Motor Only, V29
997 Get Motor Test Ld Inductance - - - R R R R IPM Motor Only, V29
998 Get Motor Test Lq Flux Saturation - - - R R R R IPM Motor Only, V29
996 Get Motor Test Lq Inductance - - - R R R R IPM Motor Only, V29
170 Get Motor Test Resistance - - - R R R R
173 Get Motor Test Slip Speed - - - R R R R Ind Motor only
175 Get Motor Test Status - - - R R R R
697 Set Motor Thermal Overload User Limit - - - O O O O Yes
1315 Set Motor Type - - - R R R R Yes Optional Enumeration
1316 Set Motor Unit - - - R R R R Yes
1325 Set Motor Winding To Ambient Capacitance - - - O O O O Yes
1326 Set Motor Winding To Ambient Resistance - - - O O O O Yes
521 Get T Operative Current Limit - - - O O O O Yes F Support in V29
14 Get Output Cam Execution Targets - - R R R R R E
38 Get T Output Cam Lock Status - - R - R R R E
37 Get T Output Cam Pending Status - - R - R R R E
36 Get T Output Cam Status - - R - R R R E
39 Get T Output Cam Transition Status - - R - R R R E
601 Get T Output Current - - - R R R R Yes
600 Get T Output Frequency - - - R O O O Yes
603 Get T Output Power - - - R R R R Yes
602 Get T Output Voltage - - - R R R R Yes
508 Set Overtorque Limit - - - O O O O Yes
509 Set Overtorque Limit Time - - - O O O O Yes
1082 Get Planner Actual Position - - R R R R R V30
1081 Get Planner Command Position - Fractional - - - R R R - V30
1080 Get Planner Command Position - Integer - - - R R R - V30
1355 Set PM Motor Extended Speed Permissive - - - - O O O Yes PM Motor only; V29
2310 Set PM Motor Flux Saturation - - - O O O O Yes SPM Motor only
1343 Set PM Motor Force Constant - - - O O O O Yes Linear PM Motor only
1328 Set PM Motor Inductance - - - R R R R Yes SPM Motor only
2315 Set PM Motor Ld Flux Saturation - - - O O O O Yes IPM Motor only, V29
1354 Set PM Motor Ld Inductance - - - R R R R Yes IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage Speed - - - - O O O Yes Linear PM Motor only; V29
1359 Set PM Motor Linear Max Extended Speed - - - - O O O Yes Linear PM Motor only; V29
1344 Set PM Motor Linear Voltage Constant - - - R R R R Yes Linear PM Motor only
2314 Set PM Motor Lq Flux Saturation - - - O O O O Yes IPM Motor only, V29
1353 Set PM Motor Lq Inductance - - - R R R R Yes IPM Motor only, V29
1342 Set PM Motor Rated Force - - - O O O O Yes Linear PM Motor only
1339 Set PM Motor Rated Torque - - - O O O O Yes Rotary PM Motor only
114 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
1327 Set PM Motor Resistance - - - R R R R Yes PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage Speed - - - - O O O Yes Rotary PM Motor only; V29
1357 Set PM Motor Rotary Max Extended Speed - - - - O O O Yes Rotary PM Motor only; V29
1341 Set PM Motor Rotary Voltage Constant - - - R R R R Yes Rotary PM Motor only
1340 Set PM Motor Torque Constant - - - O O O O Yes Rotary PM Motor only
436/131 Get T Position Error - - - - R - - Yes
444/227 Set Position Error Tolerance - - - - R - - Yes
445 Set Position Error Tolerance Time - - - - O - - Yes
1402 Get T Position Feedback 1 - - R - R R R Yes E
1452 Get T Position Feedback 2 - - R - R R R Yes E
365 Get T Position Fine Command - - - - O - - Yes
442 Set T Position Integrator Bandwidth - - - - R - - Yes
446 Set Position Integrator Control - - - - R - - Yes Optional bit maps
437 Get T Position Integrator Output - - - - R - - Yes
447 Set Position Integrator Preload - - - - O - - Yes
781 Set Position Lead Lag Filter Bandwidth - - - - O - - Yes
782 Set Position Lead Lag Filter Gain - - - - O - - Yes
443/228 Set Position Lock Tolerance - - - - R - - Yes
441 Set T Position Loop Bandwidth - - - - R - - Yes
438 Get T Position Loop Output - - - - R - - Yes
783 Set Position Notch Filter Frequency - - - - O - - Yes
432 Get T Position Reference - - - - R - - Yes
73 Set Position Scaling Denominator - - R R R R R
72 Set Position Scaling Numerator - - R R R R R
197 Set Position Servo Bandwidth - - - - R - -
431 Set T Position Trim - - - - R - - Yes
80 Set Position Units - - R R R R R
84 Set Position Unwind - - R - R R R Yes Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling; Drive
replicated attribute, Motion
Scaling Configuration set to
Drive Scaling; E
75 Set Position Unwind Denominator - - R - R R R E
74 Set Position Unwind Numerator - - R - R R R E
627 Set Power Loss Action O O - O O O O Yes Optional Enumeration
628 Set Power Loss Threshold O O - O O O O Yes
630 Set Power Loss Time O O - O O O O Yes
117 Set Programmed Stop Mode R R R R R R R
590 Set Proving Configuration - - - O O O O Yes V26
376 Set* Ramp Acceleration - - - O - O - Yes
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Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
377 Set* Ramp Deceleration - - - O - O - Yes
378 Set Ramp Jerk Control - - - O - O - Yes
375 Set* Ramp Velocity - Negative - - - O - O - Yes
374 Set* Ramp Velocity - Positive - - - O - O - Yes
2092 Set Reactive Current Command O - - - - - - Yes V32
2107 Get T Reactive Current Error O - - - - - - Yes V32
2119 Get T Reactive Current Feedback O - - - - - - Yes V32
2097 Set Reactive Current Rate Limit O - - - - - - Yes V32
2083 Get T Reactive Current Reference R - - - - - - Yes V32
2084 Get T Reactive Current Reference - Compensated R - - - - - - Yes V32
2105 Get T Reactive Current Reference - Limited R - - - - - - Yes V32
2002 Set Reactive Power Control O - - - - - - Yes V32
2073 Set Reactive Power Rate Limit O - - - - - - Yes V32
2070 Set Reactive Power Set Point O - - - - - - Yes V32
16 Get Registration 1 Event Task - - R R R R R E
63 Get* T Registration 1 Negative Edge Position - - R - R R R Yes E
67 Get* T Registration 1 Negative Edge Time - - R - R R R Yes E
55 Get T Registration 1 Position - - R - R R R E
62 Get* T Registration 1 Positive Edge Position - - R - R R R Yes E
66 Get* T Registration 1 Positive Edge Time - - R - R R R Yes E
57 Get T Registration 1 Time - - R - R R R E
17 Get Registration 2 Event Task - - R R R R R E
65 Get* T Registration 2 Negative Edge Position - - R - R R R Yes E
69 Get* T Registration 2 Negative Edge Time - - R - R R R Yes E
56 Get T Registration 2 Position - - R - R R R E
64 Get* T Registration 2 Positive Edge Position - - R - R R R Yes E
68 Get* T Registration 2 Positive Edge Time - - R - R R R Yes E
58 Get T Registration 2 Time - - R - R R R E
356 Set Registration Inputs - - R - R R R AOP; E
613/354 Set Resistive Brake Contact Delay - - - O O O O Yes PM Motor only
1333 Set Rotary Motor Damping Coefficient - - - O O O O Yes Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - - O O O O Yes Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - - O O O O Yes Rotary Motor only
1330 Set Rotary Motor Inertia - - - - O O O Yes Rotary Motor only
1332 Set Rotary Motor Max Speed - - - O O O O Yes Rotary Motor only
1329 Set Rotary Motor Poles - - - R R R R Yes Rotary Motor only
1331 Set Rotary Motor Rated Speed - - - R R R R Yes Rotary Motor only
578 Set Run Boost - - - R - - - Yes Basic V/Hz and
Fan/Pump V/Hz only
766 Set Safe Stopping Action - - - O O O O Yes V31
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Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
767 Set Safe Stopping Action Source - - - O O O O Yes V31
765 Set Safe Torque Off Action - - - O O O O Yes V26; Optional Enumeration
759 Set Safe Torque Off Action Source - - - O O O O Yes V31
758 Set Safety Fault Action - - O O O O O Yes V32
70 Set Scaling Source - - R R R R R
629 Set Shutdown Action O O - O O O O Yes Optional Enumeration
370 Set Skip Speed 1 - - - O - - - Yes
371 Set Skip Speed 2 - - - O - - - Yes
372 Set Skip Speed 3 - - - O - - - Yes
373 Set Skip Speed Band - - - O - - - Yes
833 Set SLAT Configuration - - - - - O - Yes
834 Set SLAT Set Point - - - - - O - Yes
835 Set SLAT Time Delay - - - - - O - Yes
565 Get T Slip Compensation - - - R - - - Yes
94 Set Soft Travel Limit - Negative - - R - R R R E
93 Set Soft Travel Limit - Positive - - R - R R R E
92 Set Soft Travel Limit Checking - - R - R R R E
50 Get T Start Actual Position - - R R R R R
577 Set Start Boost - - - R - - - Yes Basic V/Hz only
98 Get T Start Command Position - - - R R R -
104 Get T Start Master Offset - - - R R R -
610 Set Stopping Action - - - R R R R Yes Optional Enumeration
612/338 Set Stopping Time Limit - - - O O O O Yes
611/337 Set Stopping Torque - - - - R R R Yes
49 Get T Strobe Actual Position - - R R R R R
97 Get T Strobe Command Position - - - R R R -
103 Get T Strobe Master Offset - - - R R R -
252 Set System Acceleration Base - - - - R R R
169 Set System Bandwidth - - - - R R R Derived – Servo BW
2090 Set System Capacitance R - - - - - - Yes Voltage Control only, V32
204 Set System Damping - - - - R R R Derived – Damp. Fact.
496 Set T System Inertia - - - - R R O Yes
555 Set Torque Integral Time Constant - - - - O O O Yes
827 Set Torque Lead Lag Filter Bandwidth - - - - O O O Yes
828 Set Torque Lead Lag Filter Gain - - - - O O O Yes
505/333 Set T Torque Limit - Negative - - - - R R R Yes
504/332 Set T Torque Limit - Positive - - - - R R R Yes
554 Set Torque Loop Bandwidth - - - - O O O Yes
502 Set T Torque Low Pass Filter Bandwidth - - - - O O O Yes
843 Get T Torque Low Pass Filter Bandwidth Estimate - - - - O O O Yes V26
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Chapter 3 Interpret the Attribute Tables
Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
503 Set Torque Notch Filter Frequency - - - - O O O Yes
841 Get T Torque Notch Filter Frequency Estimate - - - - O O O Yes V26
837 Set Torque Notch Filter High Frequency Limit - - - - O O O Yes V26
838 Set Torque Notch Filter Low Frequency Limit - - - - O O O Yes V26
842 Get T Torque Notch Filter Magnitude Estimate - - - - O O O Yes V26
839 Set Torque Notch Filter Tuning Threshold - - - - O O O Yes V26
232 Set Torque Offset - - - - R R R
591 Set Torque Prove Current - - - O O O O Yes V26
506 Set Torque Rate Limit - - - - O O O Yes
492 Get T Torque Reference - - - - R R R Yes
493 Get T Torque Reference Filtered - - - - R R R Yes
494 Get T Torque Reference Limited - - - - R R R Yes
507/334 Set Torque Threshold - - - - O O O Yes
491 Set T Torque Trim - - - - R R R Yes
1056 Set Total DC Bus Capacitance R - - - - - - V32
206 Set Total Inertia - - - - R R R Rotary Motor only
207 Set Total Mass - - - - R R R Linear Motor only
1371 Set Transmission Ratio Input - - C C C C C Yes (R) Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
1372 Set Transmission Ratio Output - - C C C C C Yes (R) Controller only attribute
Motion Scaling Configuration
set to Controller Scaling;
(O) Drive replicated attribute,
Motion Scaling Configuration
set to Drive Scaling
71 Set Travel Mode - - R R R R R Yes Controller only attribute,
Motion Scaling Configuration
set to Controller Scaling; Drive
replicated attribute, Motion
Scaling Configuration set to
Drive Scaling
76 Set Travel Range - - R - R R R E
181 Get Tune Acceleration - - - - R R R
179 Get Tune Acceleration Time - - - - R R R
182 Get Tune Deceleration - - - - R R R
180 Get Tune Deceleration Time - - - - R R R
187 Set Tune Friction - - - - R R R
186 Set Tune Inertia Mass - - - - R R R
188 Set Tune Load Offset - - - - R R R
178 Get Tune Status - - - - R R R
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Attr. ID Access Tag Attribute Name G N E F P V T C/D Conditional
Rule Implementation
191 Set Tuning Direction - - - - R R R
190 Set Tuning Select - - - - R R R
194 Set Tuning Speed - - - - R R R
195 Set Tuning Torque - - - - R R R
193 Set Tuning Travel Limit - - - - R R R
510 Set Undertorque Limit - - - O O O O Yes
511 Set Undertorque Limit Time - - - O O O O Yes
464/321 Set Velocity Droop - - - O O O - Yes
455/135 Get T Velocity Error - - - - R R - Yes
465 Set Velocity Error Tolerance - - - - O O - Yes
466 Set Velocity Error Tolerance Time - - - - O O - Yes
454/134 Get T Velocity Feedback - - R R R R R Yes
433 Get T Velocity Feedforward Command - - - - R - - Yes
440/215 Set T Velocity Feedforward Gain - - - - R - - Yes
366 Get T Velocity Fine Command - - - - O O - Yes
462 Set T Velocity Integrator Bandwidth - - - - R R - Yes
467 Set Velocity Integrator Control - - - - R R - Yes Optional bit maps
456 Get T Velocity Integrator Output - - - - R R - Yes
468 Set Velocity Integrator Preload - - - - O O - Yes
474/326 Set Velocity Limit - Negative - - - O O O - Yes
473/325 Set Velocity Limit - Positive - - - O O O - Yes
458 Get T Velocity Limit Source - - - - O O - Yes V29
471 Set Velocity Lock Tolerance - - - O O O - Yes
461 Set T Velocity Loop Bandwidth - - - - R R - Yes
457 Get T Velocity Loop Output - - - - R R - Yes
469 Set T Velocity Low Pass Filter Bandwidth - - - - O O - Yes
790 Set Velocity Negative Feedforward Gain - - - - O O - Yes
231 Set Velocity Offset - - - - R R -
453 Get T Velocity Reference - - - R R R - Yes
198 Set Velocity Servo Bandwidth - - - - R R -
472/329 Set Velocity Standstill Window - - R R R R R Yes
470/327 Set Velocity Threshold - - O O O O O Yes
451 Set T Velocity Trim - - - R R R - Yes
589 Set Vertical Load Control - - - O O O - Yes V31
15 Get Watch Event Task - - R R R R R E
54 Get T Watch Position - - R - R R R E
608 Set Zero Speed - - - O O O O Yes V26
609 Set Zero Speed Time - - - O O O O Yes V26
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See also
CIP Axis Attributes on page 259
Motion Instruction Compatibility on page 29
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
Network
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
MotionGroup "MyGroup" MotionGroup Direct
MotionModule "SercosDrive:Ch13" MotionModule Direct
RotationalPosResolution 200000 MotionResolution Direct
ConversionConstant 200000 ConversionConstant Direct
OutputCamExecutionTargets 0 OutputCamExecutionTargets Direct
PositionUnits "Position Units" PositionUnits Direct
AverageVelocityTimebase 0.25 AverageVelocityTimebase Direct
RotaryAxis Linear RotaryAxis Direct
PositionUnwind 200000 PositionUnwind Direct
HomeMode Active HomeMode Direct
HomeDirection Bi-directional Forward HomeDirection Direct
HomeSequence Immediate HomeSequence Direct
HomeConfigurationBits 16#0000_0000 HomeConfigurationBits Direct
HomePosition 0 HomePosition Direct
HomeOffset 0 HomeOffset Direct
HomeSpeed 0 HomeSpeed Direct
HomeReturnSpeed 0 HomeReturnSpeed Direct
MaximumSpeed 70.833336 MaximumSpeed Direct
MaximumAcceleration 14025.113 MaximumAcceleration Direct
MaximumDeceleration 14025.113 MaximumDeceleration Direct
ProgrammedStopMode Fast Stop ProgrammedStopMode Direct
MasterInputConfigurationBits 1 MasterInputConfigurationBits Direct
MasterPositionFilterBandwidth 0.1 MasterPositionFilterBandwidth Direct
AxisConfiguration
AxisType Servo FeedbackConfiguration Enum Mapping
AxisConfiguration
ServoLoopConfiguration Position Servo FeedbackConfiguration Enum Mapping
FaultConfigurationBits 32 ExceptionAction Enum Mapping
Enum to Attr ID
AxisInfoSelect1 <none> CyclicReadUpdateList Element 0
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SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
Enum to Attr ID
AxisInfoSelect2 <none> CyclicReadUpdateList Element 1
VelocityFeedforwardGain 0 VelocityFeedforwardGain Direct
AccelerationFeedforwardGain 0 AccelerationFeedforwardGain Direct
PositionProportionalGain 528.1571 PositionLoopBandwidth 1/2p
PositionIntegralGain 0 PositionIntegratorBandwidth 1/2p * 1000/Kpp
VelocityProportionalGain 1352.0822 VelocityLoopBandwidth 1/2p
VelocityIntegralGain 0 PositionIntegratorBandwidth 1/2p * 1000/Kpv
Conversion Const/Drive
TorqueScaling 0.01749257 SystemInertia Res
OutputLPFilterBandwidth 0 TorqueLPFilterBandwidth Direct
PositionIntegratorControl Bit 0 Mapping
IntegratorHoldEnable Enabled VelocityIntegratorControl Bit 0 Mapping
MaximumPositiveTravel 0 MaximumPositiveTravel Direct
MaximumNegativeTravel 0 MaximumNegativeTravel Direct
PositionErrorTolerance 0.3155627 PositionErrorTolerance Direct
PositionLockTolerance 0.01 PositionLockTolerance Direct
VelocityOffset 0 VelocityOffset Direct
TorqueOffset 0 TorqueOffset Direct
FrictionCompensation 0 FrictionCompensation Direct
FrictionCompensationWindow 0 FrictionCompensationWindow Direct
BacklashStabilizationWindow 0 BacklashStabilizationWindow Direct
BacklashReversalOffset 0 BacklashReversalOffset Direct
HardOvertravelFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
SoftOvertravelFaultAction Disable Drive MotionExceptionAction Enum Mapping
PositionErrorFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
FeedbackFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
FeedbackNoiseFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
TestIncrement 0 TestIncrement Direct
TuningTravelLimit 0 TuningTravelLimit Direct
TuningSpeed 0 TuningSpeed Direct
TuningTorque 100 TuningTorque Direct
DampingFactor 0.8 DampingFactor Direct
DriveModelTimeConstant 2.89E-04 DriveModelTimeConstant Direct
PositionServoBandwidth 84.058815 N/A
VelocityServoBandwidth 215.19055 N/A
TuningConfigurationBits 16#0000_0000 TuningConfigurationBits Direct
TorqueLimitSource Not Limited TorqueLimitSource Direct
DriveUnit Motor Rev MotionUnit Direct
PositionDataScaling 10 N/A
PositionDataScalingFactor 1 N/A
PositionDataScalingExp 0 N/A
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Chapter 3 Interpret the Attribute Tables
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
VelocityDataScaling 2 N/A
VelocityDataScalingFactor 1 N/A
VelocityDataScalingExp 0 N/A
AccelerationDataScaling 2 N/A
AccelerationDataScalingFactor 1 N/A
AccelerationDataScalingExp 0 N/A
TorqueDataScaling 0 N/A
TorqueDataScalingFactor 1 N/A
TorqueDataScalingExp 0 N/A
DrivePolarity Positive MotionPolarity Enum Mapping
MotorFeedbackType "SRM" Feedback1Type Enum Mapping
MotorFeedbackResolution 1024 Feedback1CycleResolution Direct
AuxFeedbackType "<NA>" Feedback2Type Enum Mapping
AuxFeedbackResolution 4000 Feedback2CycleResolution Direct
MotorFeedbackUnit Rev Feedback1Unit Enum Mapping
AuxFeedbackUnit Rev Feedback2Unit Enum Mapping
OutputNotchFilterFrequency 0 TorqueNotchFilterFrequecy Freq Unit Scaling
VelocityDroop 0 VelocityDroop Direct
VelocityLimitBipolar 83.333336 N/A
AccelerationLimitBipolar 33000.266 N/A
TorqueLimitBipolar 288.62973 N/A
VelocityLimitPositive 83.333336 VelocityLimitPositive Direct
VelocityLimitNegative -83.333336 VelocityLimitNegative Direct
VelocityThreshold 0 VelocityThreshold Direct
VelocityWindow 1 VelocityWindow Direct
VelocityStandstillWindow 1 VelocityStandstillWindow Direct
AccelerationLimitPositive 33000.266 AccelerationLimit Direct
AccelerationLimitNegative -33000.266 DecelerationLimit Direct
TorqueLimitPositive 288.62973 TorqueLimitPositive Direct
TorqueLimitNegative -288.62973 TorqueLimitNegative Direct
TorqueThreshold 0 TorqueThreshold Direct
DriveThermalFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
MotorThermalFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
DriveEnableInputFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
StoppingTorque 288.62973 StoppingTorque Direct
StoppingTimeLimit 10 StoppingTimeLimit Direct
BrakeEngageDelayTime 0 BrakeEngageDelayTime Direct
BrakeReleaseDelayTime 0 BrakeReleaseDelayTime Direct
PowerSupplyID "2094-AC05-M01" (Module Configuration)
BusRegulatorID "<none>" (Module Configuration)
PWMFrequencySelect High Frequency N/A
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SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
LoadInertiaRatio 0 LoadInertiaRatio Direct
AmplifierCatalogNumber "2094-AC05-M01" (Module Configuration)
MotorCatalogNumber "MPL-A310P-M" MotorCatalogNumber Direct
AuxFeedbackRatio 1 FeedbackUnitRatio 1/x
ContinuousTorqueLimit 100 MotorOverloadLimit Direct
ResistiveBrakeContactDelay 0 ResistiveBrakeContactDelay Direct
MaximumAccelerationJerk 2776994.8 MaximumAccelerationJerk Direct
MaximumDecelerationJerk 2776994.8 MaximumDecelerationJerk Direct
DynamicsConfigurationBits 7 DynamicsConfigurationBits Direct
PhaseLossFaultAction Shutdown CIPAxisExceptionAction Enum Mapping
HomeTorqueLevel 0 HomeTorqueLevel Direct
InputPowerPhase Three-Phase (Module Configuration)
Drive Supported Optional The following tables describe the optional attributes that are supported for the
Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 755 Standard,
Attributes and the PowerFlex 755 Safety drives.
• Kinetix 350 Drive Module Optional Attributes on page 125
• Kinetix 5500 Hardwired STO Drive Module Optional Attributes on page
131
• Kinetix 5500 Integrated STO Drive Module Optional Attributes on page
139
• Kinetix 5700 Drive Module Optional Attributes on page 148
• Kinetix 5700 Advanced Safety Drive Module Optional Attributes on page
156
• Kinetix 5700 CIP Safety (EtherNet/IP) Module Optional Attributes
on page 165
• Kinetix 5700 CIP Advanced Safety (EtherNet/IP) Module Optional
Attributes on page 176
• Kinetix 6500 Drive Module Optional Attributes on page 199
• Kinetix 5700 Regenerative Bus Supply Module Optional Attributes
on page 187
• PowerFlex 527 Axis Instance Optional Attributes on page 205
• PowerFlex 755 Standard Drive Module Optional Attributes on page 211
• PowerFlex 755 High Power, Standard Drive Module Optional Attributes
on page 218
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Chapter 3 Interpret the Attribute Tables
• PowerFlex 755 Low Power, Non-Network Safety Drive Module Optional
Attributes on page 224
• PowerFlex 755 High Power, Non-Network Safety Drive Module Optional
Attributes on page 231
• PowerFlex 755 Low and High Power, STO Only Network Safety Drive
Module Optional Attributes on page 238
• PowerFlex 755 Low and High Power, Advanced Safety Network Safety
Drive Module Optional Attributes on page 245
The tables use the following abbreviations:
Key Description
Y The attribute/enum/bit is supported.
Y# The attribute was not supported until the major revision of the drive.
(indicated by the # value)
N The attribute/enum/bit is NOT supported.
R The attribute is required.
O The attribute is optional.
G Regenerative (Active) AC/DC Converters (No Control Mode, No Control Method)
N Non-regenerative (Passive) AC/DC and DC/DC 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)
V Velocity Loop (Velocity Control Mode, Close Loop Vector Control Method)
T Torque Loop (Torque Control Mode, Closed Loop Vector Control Method)
F Frequency Control (Velocity Control Mode, Frequency Control Method)
C/D Controller/Device Replicated Attribute
AOP Special device specific semantics needed from AOP
Co Controller only attribute (controller attribute that resides only in controller)
C/D Yes = The attribute is replicated in the drive
CScale Motion Scaling Configuration set to Controller Scaling
Derived Implementation rules follow another attribute
Dr Drive replicated attribute (controller attribute that is replicated in drive)
Drive Scaling Drive device supports drive scaling functionality
DScale Motion Scaling Configuration set to Drive Scaling
ED EnDat 2.1 and EnDAT 2.2 (feedback type)
E Encoder-based control, a feedback device is present
!E Encoderless or sensorless control, a feedback device in not present
HI Hiperface (feedback type)
IM Rotary or Linear Induction Motor (motor type)
Linear Absolute Feedback Unit - meter; Feedback n Startup Method- absolute
Linear Motor Linear PM motor or Linear Induction motor (motor type)
LT LDT or Linear Displacement Transducer (feedback type)
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Interpret the Attribute Tables Chapter 3
Key Description
NV Motor NV or Drive NV (motor data source)
O-Bits Optional bits associated with bit mapped attribute
O-Enum Optional enumerations associated with attribute
PM Rotary or Linear Permanent Magnet motor (motor type)
Rotary Absolute Feedback Unit - rev; Feedback n Startup Method - absolute
Rotary Motor Rotary PM motor or Rotary Induction motor (motor type)
SC Sine/Cosine (feedback type)
SL Stahl SII (feedback type)
SS SSI (feedback type)
TM Tamagawa (feedback type)
TP Digital Parallel (feedback type)
TT Digital AqB (feedback type)
See also
Device Function Codes on page 97
Attribute Conversion from SERCOS to Integrated Motion on the
Ethernet/IP Network on page 120
MSG Instruction Access Only Attributes on page 253
Kinetix 350 Drive Module A Kinetix 350 drive module supports the following optional attributes and
corresponding control mode functionalities:
Optional Attributes
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
367 Get Acceleration Fine Command - - Y Y Y
485 Set Acceleration Limit - N N N N
482 Get Acceleration Reference - - N N N
481 Set Acceleration Trim - - N N N
1376 Set Actuator Diameter N N N N N DScale
1377 Set Actuator Diameter Unit N N N N N DScale
1374 Set Actuator Lead N N N N N DScale
1375 Set Actuator Lead Unit N N N N N DScale
1373 Set Actuator Type N N N N N DScale
732/267 Get Analog Input 1 Y - N N N N
733/268 Get Analog Input 2 Y - N N N N
734 Set Analog Output 1 Y - N N N N
735 Set Analog Output 2 Y - N N N N
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
30 Set Axis Configuration R R R R R O-Enum
0 = Feedback Only (N)
1 = Frequency Control (N)
2 = Position Loop (Y)
3 = Velocity Loop (Y)
4 = Torque Loop (Y)
19 Set Axis Features R R R R R O-Bits
0 = Fine Interpolation (Y)
1 = Registration Auto-rearm (Y)
2 = Alarm Log (Y)
5 = Hookup Test (Y)
6 = Commutation Test (N)
7 = Motor Test (N)
8 = Inertia Test (Y)
9 = Sensorless Control (N)
763 Get Axis Safety Faults O O O O Y
760 Get Axis Safety State O O O O Y
761 Get Axis Safety Status O O O O Y
825 Set Backlash Compensation Window - - N - -
638/262 Get Bus Regulator Capacity - N N N N
659 Get CIP Axis Alarms N N N N N
904 Get CIP Axis Alarms - RA N N N N N
563 Set Commutation Polarity - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - N N N PM Motor only O-Value = #
637 Get Converter Capacity - N Y Y Y
840 Set Current Disturbance - - N N N
527 Get Current Error - - Y Y Y
529 Get Current Feedback - - Y Y Y
522 Get Current Limit Source - - Y Y Y
524 Get Current Reference - - Y Y Y
553 Set Current Vector Limit - N N N N
870 Set DC Injection Brake Current - N N N N Ind Motor only
872 Set DC Injection Brake Time - N N N N Ind Motor only
486 Set Deceleration Limit - N N N N
730 Get Digital Inputs - N N N N
731 Set Digital Outputs - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth O - Y Y Y
2404 Set Feedback 1 Accel Filter Taps N - N N N
2405 Set Feedback 1 Battery Absolute - - Y Y Y TM
1421 Set Feedback 1 Data Code N - N N N TP,SS
1420 Set Feedback 1 Data Length N - N N N TP,SS
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Interpret the Attribute Tables Chapter 3
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
2400 Set Feedback 1 Loss Action N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity N - N N N
1425 Set Feedback 1 Resolver Cable Balance N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio N - N N N RS
1401 Get Feedback 1 Serial Number N - Y Y Y
1415 Set Feedback 1 Startup Method R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps N - N N N
1485 Set Feedback 2 Accel Filter Bandwidth N - N N N
2454 Set Feedback 2 Accel Filter Taps N - N N N
2455 Set Feedback 2 Battery Absolute N - N N TM
1471 Set Feedback 2 Data Code N - N N N TP,SS
1470 Set Feedback 2 Data Length N - N N N TP,SS
2450 Set Feedback 2 Loss Action N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity O - N N N
1475 Set Feedback 2 Resolver Cable Balance N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio N - N N N RS
1451 Get Feedback 2 Serial Number O - N N N
1465 Set Feedback 2 Startup Method R - R R R O-Enum
1 = Absolute (N)
1484 Set Feedback 2 Velocity Filter Bandwidth N - N N N
2453 Set Feedback 2 Velocity Filter Taps N - N N N
250 Set Feedback Commutation Aligned - - N N N O-Enum
2 = Motor Offset (N)
3 = Self-Sense (N)
31 Set* Feedback Configuration R R R R R O-Enum
0 = No Feedback (V/N)(T/N)
3 = Load Feedback (PVT/N)
4 = Dual Feedback (P/N)
8 = Dual Integrator Feedback (P/N)
708 Set Feedback Data Loss User Limit N N N N N
706 Set Feedback Noise User Limit N N N N N
707 Set Feedback Signal Loss User Limit N N N N N
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
44 Set Feedback Unit Ratio - - N N -
871 Set Flux Braking Enable - N N N N Ind Motor only
528 Get Flux Current Error - - N N N
530 Get Flux Current Feedback - - N N N
525 Get Flux Current Reference - - N N N
557 Set Flux Integral Time Constant - - N N N
556 Set Flux Loop Bandwidth - - N N N
558 Set Flux Up Control - N N N N Ind Motor only O-Enum
1 = Manual Delay (N)
2 = Automatic Delay (N)
559 Set Flux Up Time - N N N N Ind Motor only
380 Set Flying Start Enable - N - N -
570 Set Frequency Control Method - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (N)
129 = Sensorless Vector (N)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - N N N
499 Set Friction Compensation Static - - N N N
500 Set Friction Compensation Viscous - - N N N
826/421 Set Friction Compensation Window - - N - -
981/243 Get Guard Faults - N N N N
980/242 Get Guard Status - N Y Y Y
1349 Set Induction Motor Magnetization Reactance - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - N N N N Ind Motor only
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
647 Set Inverter Overload Action - N Y Y Y O-Enum
1 = Current Foldback (Y) 128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - N N N N
1338 Set Linear Motor Damping Coefficient - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - N N N N Linear Motor only
1336 Set Linear Motor Mass - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - N N N
806 Set Load Observer Bandwidth - - N N N
805 Set Load Observer Configuration - - N N N O-Enum
1 = Load Observer Only (N)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - N N N
807 Set Load Observer Integrator Bandwidth - - N N N
128 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
802 Get Load Observer Torque Estimate - - N N N
1370 Set Load Type N N N N N DScale
750 Set Local Control N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - N Y Y Y
616 Set Mechanical Brake Engage Delay - N Y Y Y
615 Set Mechanical Brake Release Delay - N Y Y Y
45 Set Motion Scaling Configuration R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - N Y Y Y Dr NV
1313 Set Motor Data Source - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3= Motor NV (N)
1323 Set Motor Integral Thermal Switch - N Y Y Y
1324 Set Motor Max Winding Temperature - N N N N
646 Set Motor Overload Action - N Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - N Y Y Y
695 Set Motor Overspeed User Limit - N N N N
1317 Set Motor Polarity - N N N N Check on this
1321 Set Motor Rated Output Power - N Y Y Y O-IM
1320 Set Motor Rated Peak Current - N Y Y Y O-IM
697 Set Motor Thermal Overload User Limit - N N N N
1315 Set Motor Type - R R R R O-Enum
1 = Rotary Permanent Magnet (Y)
2 = Rotary Induction (N)
3 = Linear Permanent Magnet (N)
4 = Linear Induction (N)
1325 Set Motor Winding to Ambient Capacitance - N Y Y Y
1326 Set Motor Winding to Ambient Resistance - N Y Y Y
521 Get Operative Current Limit - - Y Y Y
600 Get Output Frequency - R N N N
508 Set Overtorque Limit - N Y Y Y
509 Set Overtorque Limit Time - N Y Y Y
2310 Set PM Motor Flux Saturation - N Y Y Y
1343 Set PM Motor Force Constant - N Y Y Y Rotary PM Motor only
1342 Set PM Motor Rated Force - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - N Y Y Y Rotary PM Motor only
1340 Set PM Motor Torque Constant - - Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - Y - -
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 129
Chapter 3 Interpret the Attribute Tables
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
365 Get Position Fine Command - - Y - -
446 Set Position Integrator Control - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - N - -
781 Set Position Lead Lag Filter Bandwidth - - N - -
782 Set Position Lead Lag Filter Gain - - N - -
783 Set Position Notch Filter Frequency - - Y - -
627 Set Power Loss Action - N N N N O-Enum
2 = Decel Regen (N)
628 Set Power Loss Threshold - N N N N
630 Set Power Loss Time - N N N N
376 Set* Ramp Acceleration - N - N - Derived
377 Set* Ramp Deceleration - N - N - Derived
378 Set Ramp Jerk Control - N - N -
375 Set* Ramp Velocity - Negative - N - N - Derived
374 Set* Ramp Velocity - Positive - N - N - Derived
613/354 Set Resistive Brake Contact Delay - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - - Y Y Y Rotary Motor only
629 Set Shutdown Action - N N N N O-Enum
1 = Drop DC Bus (N)
370 Set Skip Speed 1 - N - - -
371 Set Skip Speed 2 - N - - -
372 Set Skip Speed 3 - N - - -
373 Set Skip Speed Band - N - - -
833 Set SLAT Configuration - - - N -
834 Set SLAT Set Point - - - N -
835 Set SLAT Time Delay - - - N -
610 Set Stopping Action - R R R R O-Enum
2 = Ramped Decel Disable (FPV/N)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (PV/N)
128 = DC Injection Brake (IM/N)
129 = AC Injection Brake (IM/N)
612 Set Stopping Time Limit - - Y Y Y
496 Set System Inertia - - R R N
555 Set Torque Integral Time Constant - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - N N N
828 Set Torque Lead Lag Filter Gain - - N N N
130 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute Name N E F P V T Conditional Implementation
Rule
554 Set Torque Loop Bandwidth - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - Y Y Y
503 Set Torque Notch Filter Frequency - - Y Y Y
506 Set Torque Rate Limit - - N N N
507/334 Set Torque Threshold - - N N N
1371 Set Transmission Ratio Input N N N N N DScale
1372 Set Transmission Ratio Output N N N N N DScale
510 Set Undertorque Limit - N Y Y Y
511 Set Undertorque Limit Time - N Y Y Y
464/321 Set Velocity Droop - N N N -
465 Set Velocity Error Tolerance - - Y Y -
466 Set Velocity Error Tolerance Time - - Y Y -
366 Get Velocity Fine Command - - Y Y -
467 Set Velocity Integrator Control - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - N N -
474/326 Set Velocity Limit - Negative - N Y Y -
473/325 Set Velocity Limit - Positive - N Y Y -
471 Set Velocity Lock Tolerance - N Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - Y Y -
790 Set Velocity Negative Feedforward Gain - - N N -
470/327 Set Velocity Threshold - N Y Y -
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
• 2198-H015-ERS, Kinetix 5500, 5 A, 195 – 528 Volt, Safe Torque Off
Drive
• 2198-H025-ERS, Kinetix 5500, 8A, 195- 528 Volt, Safe Torque Off Drive
• 2198-H040-ERS, Kinetix 5500, 13 A, 192-528 Volt, Safe Torque Off Drive
• 2198-H070-ERS Kinetix 5500, 23 A,195–528 Volt, Safe Torque Off Drive
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in the following table:
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 131
Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
367 Get Acceleration Fine Command - - - Y Y Y
485 Set Acceleration Limit - - N Y Y N
482 Get Acceleration Reference - - - Y Y N
481 Set Acceleration Trim - - - N N N
1376 Set Actuator Diameter - N N N N N DScale
1377 Set Actuator Diameter Unit - N N N N N DScale
1374 Set Actuator Lead - N N N N N DScale
1375 Set Actuator Lead Unit - N N N N N DScale
1373 Set Actuator Type - N N N N N DScale
836 Set Adaptive Tuning Configuration - - - Y Y Y V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - Y Y Y V26/V27
732/267 Get Analog Input 1 N - N N N N
733/268 Get Analog Input 2 N - N N N N
734 Set Analog Output 1 N - N N N N
735 Set Analog Output 2 N - N N N N
873 Set Auto Sag Configuration - - N N N N V26/V27
874 Set Auto Sag Slip Increment - - N N N N V26/V27
875 Set Auto Sag Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - N N N N V26/V27
30 Set Axis Configuration - R R R R R O-Enum0 = Feedback Only (Y) 1 = Frequency Control (Y)
2 = Position Loop (Y) 3 = Velocity Loop (Y) 4 = Torque Loop
(Y)
19 Set Axis Features R R R R R R 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. Event Block (N) Vxx
12 = Integer Cmd. Pos. (N) Vxx
13 = Ext. Motor Test (N) V29
14 = Control Mode Change (N) V26/V27
15 = Feedback Mode Change (N) Vxx
16 = Pass Bus Status (N) V26/V27
17 = Pass Bus Unload (N) V26/V27
18 = Ext. Speed for SPM (N) V29
19 = Ext. Speed for IPM (N) V29
763 Get Axis Safety Faults - N N N N N V24
760 Get Axis Safety State - N N N N N V24
761 Get Axis Safety Status - N N N N N V24
132 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
825 Set Backlash Compensation Window - - - Y - -
593 Set Brake Prove Ramp Time - - N N N N V26/V27
594 Set Brake Slip Tolerance - - Y5 Y Y Y V26/V27
592 Set Brake Test Torque - - Y5 Y Y Y V26/V27
2338 Get Bus Output Overvoltage Factory Limit 1 N - N N N N Vxx
2358 Get Bus Output Overvoltage Factory Limit 2 N - N N N N Vxx
2339 Get Bus Output Undervoltage Factory Limit 1 N - N N N N Vxx
2359 Get Bus Output Undervoltage Factory Limit 2 N - N N N N Vxx
638/262 Get Bus Regulator Capacity N - Y Y Y Y
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - Y Y Y Y V26/V27
850 Set Commutation Offset Compensation - - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
637 Get Converter Capacity N - Y Y Y Y
2337 Get Converter Output Capacity 1 N - N N N N Vxx
2357 Get Converter Output Capacity 2 N - N N N N Vxx
605 Get Converter Output Current N - Y Y Y Y V26/V27
2330 Get Converter Output Current 1 N - N N N N Vxx
2350 Get Converter Output Current 2 N - N N N N Vxx
606 Get Converter Output Power N - Y Y Y Y V26/V27
2331 Get Converter Output Power 1 N - N N N N Vxx
2351 Get Converter Output Power 2 N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N - N N N N Vxx
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - Y Y Y
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - Y7 Y Y Y F Support in V29
524 Get Current Reference - - - Y Y Y
553 Set Current Vector Limit - - Y Y Y Y
2334 Get DC Bus Output Voltage 1 N - N N N N Vxx
2354 Get DC Bus Output Voltage 2 N - N N N N Vxx
742 Get DC Bus Output Voltage Reference N - N N N N Vxx
2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx
2356 Get DC Bus Output Voltage Reference 2 N - N N N N Vxx
870 Set DC Injection Brake Current - - N N N N
872 Set DC Injection Brake Time - - N N N N
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 133
Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
486 Set Deceleration Limit - - N Y Y N
730 Get Digital Inputs N - N N N N
731 Set Digital Outputs N - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - Y - Y Y Y
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - N - N N N TP,SS
1420 Set Feedback 1 Data Length - N - N N N TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N) 2 = Switch to Redundant
Fdbk (N)
1414 Set Feedback 1 Polarity - N - N N N
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - Y - Y Y Y
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - N - N N N TP,SS
1470 Set Feedback 2 Data Length - N - N N N TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N) 2 = Switch to Redundant
Fdbk (N)
1464 Set Feedback 2 Polarity - N - N N N
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1 = Absolute (N)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (Y) 3 = Self-Sense (N)
4 = Database Offset (N) Vxx
134 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N)(V/N)(T/N) 4 = Dual Feedback (P/N)
8 = Dual Integrator Feedback (P/N)
708 Set Feedback Data Loss User Limit - Y Y Y Y Y
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - N N -
871 Set Flux Braking Enable - - N N N N Ind Motor only
528 Get Flux Current Error - - - Y Y Y
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - Y Y Y
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - N - N -
381 Set Flying Start Method - - N - N - 0-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y) 129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - - Y Y Y4
499 Set Friction Compensation Static - - - Y Y4 Y4
500 Set Friction Compensation Viscous - - - Y Y Y4
826/421 Set Friction Compensation Window - - - Y - -
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
280 Set Home Torque Threshold - - - N N - Vxx
281 Set Home Torque Time - - - N N - Vxx
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y N N N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y) 128 = Reduce PWM Rate (N) 129 =
PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - - Y Y Y Y
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 135
Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y Y
806 Set Load Observer Bandwidth - - - Y Y Y
805 Set Load Observer Configuration - - - Y Y Y O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (Y) 3 = Velocity
Estimate Only (Y)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - Y Y Y
807 Set Load Observer Integrator Bandwidth - - - Y Y Y
802 Get Load Observer Torque Estimate - - - Y Y Y
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N) 2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N Y Y Y Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y) 2 = Drive NV (N) 3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - - Y5 Y Y Y
1324 Set Motor Max Winding Temperature - - Y5 Y Y Y
646 Set Motor Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y5 Y Y Y
694 Set Motor Phase Loss Limit - - N N N N V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y O-PM
1320 Set Motor Rated Peak Current - - Y5 Y Y Y O-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1001 Get Motor Test Comm Offset Comp - - R R R R IPM Motor Only, V29
999 Get Motor Test Ld Flux Saturation - - R R R R IPM Motor Only, V29
997 Get Motor Test Ld Inductance - - R R R R IPM Motor Only, V29
998 Gett Motor Test Lq Flux Saturation - - R R R R IPM Motor Only, V29
996 Get Motor Test Lq Inductance - - R R R R IPM Motor Only, V29
1000 Get Motor Test Max Speed - - R R R R IPM Motor Only, V29
136 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
1315 Set Motor Type - - R R R R O-Enum
1 = Rotary Permanent Magnet (Y) 2 = Rotary Induction (Y)
3 = Linear Permanent Magnet (N) 4 = Linear Induction (N)
1325 Set Motor Winding to Ambient Capacitance - - Y5 Y Y Y
1326 Set Motor Winding to Ambient Resistance - - Y5 Y Y Y
521 Get Operative Current Limit - - Y7 Y Y Y F Support in V29
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - N Y Y Y
509 Set Overtorque Limit Time - - N Y Y Y
1355 Set PM Motor Extended Speed Permissive - - - N N N V29
2310 Set PM Motor Flux Saturation - - N Y Y Y SPM Motor only
1343 Set PM Motor Force Constant - - N Y Y Y Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation - - N N N N IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage Speed - - - N N N V29
1359 Set PM Motor Linear Max Extended Speed - - - N N N V29
2314 Set PM Motor Lq Flux Saturation - - N N N N IPM Motor only, V29
1342 Set PM Motor Rated Force - - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N Y Y Y Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage Speed - - - N N N V29
1357 Set PM Motor Rotary Max Extended Speed - - - N N N V29
1340 Set PM Motor Torque Constant - - N Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bit
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - N - -
627 Set Power Loss Action - - N N N N O-Enum
2 = Decel Regen (N)
628 Set Power Loss Threshold N - N N N N
630 Set Power Loss Time N - N N N N
590 Set Proving Configuration - - Y5 Y Y Y V26/V27
376 Set* Ramp Acceleration - - N - N - Derived
377 Set* Ramp Deceleration - - N - N - Derived
378 Set Ramp Jerk Control - - N - N -
375 Set* Ramp Velocity - Negative - - N - N - Derived
374 Set* Ramp Velocity - Positive - - N - N - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 137
Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - - Y Y Y Y Rotary Motor only
765 Set Safe Torque Off Action - - N N N N 0-Enum
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N) 128 = DC Injection Brake
(FPVT/N) 129 = AC Injection Brake (FPVT/N)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - N - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/Y) V26/V27 2 = Ramped Decel
Disable (FV/N)
3 = Current Decel Hold (PV/Y) 4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/N) 129 = AC Injection Brake
(FPVT/N)
612 Set Stopping Time Limit - - Y7 Y Y Y F Support in V29
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - - Y Y Y
554 Set Torque Loop Bandwidth - - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - - Y Y Y
843 Get Torque Low Pass Filter Bandwidth - - - Y Y Y V26/V27
Estimate
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - Y Y Y V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - Y Y Y V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - - Y Y Y V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - - Y Y Y V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - Y Y Y V26/V27
591 Set Torque Prove Current - - Y5 Y Y Y V26/V27
506 Set Torque Rate Limit - - - Y Y Y
507/334 Set Torque Threshold - - - Y Y Y
1371 Set Transmission Ratio Input - N N N N N DScale
1372 Set Transmission Ratio Output - N N N N N DScale
138 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
510 Set Undertorque Limit - - N Y Y Y
511 Set Undertorque Limit Time - - N Y Y Y
464/321 Set Velocity Droop - - Y4 Y Y -
465 Set Velocity Error Tolerance - - - Y Y -
466 Set Velocity Error Tolerance Time - - - Y Y -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - N N -
475 Set Velocity Limit - Bus Overvoltage - - - N N - V29
477 Set Velocity Limit - Bus Overvoltage - - - N N - V29
Permissive
476 Set Velocity Limit - Motor Max - - - N N - V29
474/326 Set Velocity Limit - Negative - - Y7 Y Y -
473/325 Set Velocity Limit - Positive - - Y7 Y Y -
458 Get Velocity Limit Source - - - Y Y - V29
471 Set Velocity Lock Tolerance - - N Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - Y N Y Y Y
608 Set Zero Speed - - Y5 Y Y Y V26/V27
609 Set Zero Speed Time - - Y5 Y Y Y 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
• 2198-H008-ERS2, Kinetix 5500, 2.5A, 195-528 Volt, CIP Safe Torque Off
Drive
• 2198-H015-ERS2, Kinetix 5500, 5 A, 195 – 528 Volt, CIP Safe Torque
Off Drive
• 2198-H025-ERS2, Kinetix 5500, 8A, 195- 528 Volt, CIP Safe Torque Off
Drive
• 2198-H040-ERS2, Kinetix 5500, 13 A, 192-528 Volt, CIP Safe Torque Off
Drive
• 2198-H070-ERS2 Kinetix 5500, 23 A,195–528 Volt, CIP Torque Off
Drive
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Chapter 3 Interpret the Attribute Tables
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in the following table:
ID Access Attribute N E F P V T Conditional Implementation
Rule
367 Get Acceleration Fine Command - - Y Y Y
485 Set Acceleration Limit - N Y Y N
482 Get Acceleration Reference - - Y Y N
481 Set Acceleration Trim - - N N N
1376 Set Actuator Diameter N N N N N DScale
1377 Set Actuator Diameter Unit N N N N N DScale
1374 Set Actuator Lead N N N N N DScale
1375 Set Actuator Lead Unit N N N N N DScale
1373 Set Actuator Type N N N N N DScale
836 Set Adaptive Tuning Configuration - - Y Y Y V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - Y Y Y V26/V27
732/267 Get Analog Input 1 N - N N N N
733/268 Get Analog Input 2 N - N N N N
734 Set Analog Output 1 N - N N N N
735 Set Analog Output 2 N - N N N N
873 Set Auto Sag Configuration - N N N N V26/V27
874 Set Auto Sag Slip Increment - N N N N V26/V27
875 Set Auto Sag Time Limit - N N N N V26/V27
876 Set Auto Sag Start - N N N N V26/V27
30 Set Axis Configuration R R R R R O-Enum
0 = Feedback Only (Y)
1 = Frequency Control (Y)
2 = Position Loop (Y)
3 = Velocity Loop (Y)
4 = Torque Loop (Y)
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Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
19 Set Axis Features R R R R R R 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. Event Block (N) Vxx
12 = Integer Cmd. Pos. (N) Vxx
13 = Ext. Motor Test (N) V29
14 = Control Mode Change (N) V26/V27
15 = Feedback Mode Change (N) Vxx
16 = Pass Bus Status (N) V26/V27
17 = Pass Bus Unload (N) V26/V27
18 = Ext. Speed for SPM (N) V29
19 = Ext. Speed for IPM (N) V29
763 Get Axis Safety Faults Y4 Y Y Y Y V24
760 Get Axis Safety State Y4 Y Y Y Y V24
761 Get Axis Safety Status Y4 Y Y Y Y V24
825 Set Backlash Compensation Window - - Y - -
593 Set Brake Prove Ramp Time - N N N N V26/V27
594 Set Brake Slip Tolerance - Y5 Y Y Y V26/V27
592 Set Brake Test Torque - Y5 Y Y Y V26/V27
2338 Get Bus Output Overvoltage Factory Limit 1 N - N N N N Vxx
2358 Get Bus Output Overvoltage Factory Limit 2 N - N N N N Vxx
2339 Get Bus Output Undervoltage Factory Limit 1 N - N N N N Vxx
2359 Get Bus Output Undervoltage Factory Limit 2 N - N N N N Vxx
638/262 Get Bus Regulator Capacity N - Y Y Y Y
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - Y Y Y Y V26/V27
850 Set Commutation Offset Compensation - - N N N PM Motor only, V29
563 Set Commutation Polarity - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - N N N PM Motor only
637 Get Converter Capacity N - Y Y Y Y
2337 Get Converter Output Capacity 1 N - N N N N Vxx
2357 Get Converter Output Capacity 2 N - N N N N Vxx
605 Get Converter Output Current N - Y Y Y Y V26/V27
2330 Get Converter Output Current 1 N - N N N N Vxx
2350 Get Converter Output Current 2 N - N N N N Vxx
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
606 Get Converter Output Power N - Y Y Y Y V26/V27
2331 Get Converter Output Power 1 N - N N N N Vxx
2351 Get Converter Output Power 2 N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N - N N N N Vxx
840 Set Current Disturbance - - N N N
527 Get Current Error - - Y Y Y
529 Get Current Feedback - - Y Y Y
522 Get Current Limit Source - Y7 Y Y Y F Support in V29
524 Get Current Reference - - Y Y Y
553 Set Current Vector Limit - Y Y Y Y
2334 Get DC Bus Output Voltage 1 N - N N N N Vxx
2354 Get DC Bus Output Voltage 2 N - N N N N Vxx
742 Get DC Bus Output Voltage Reference N - N N N N Vxx
2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx
2356 Get DC Bus Output Voltage Reference 2 N - N N N N Vxx
870 Set DC Injection Brake Current - N N N N
872 Set DC Injection Brake Time - N N N N
486 Set Deceleration Limit - N Y Y N
730 Get Digital Inputs N - N N N N
731 Set Digital Outputs N - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps Y - Y Y Y
2405 Set Feedback 1 Battery Absolute N - N N N TM
1421 Set Feedback 1 Data Code N - N N N TP,SS
1420 Set Feedback 1 Data Length N - N N N TP,SS
2400 Set Feedback 1 Loss Action N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity N - N N N
1425 Set Feedback 1 Resolver Cable Balance N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio N - N N N RS
1401 Get Feedback 1 Serial Number Y - Y Y Y
1415 Set Feedback 1 Startup Method R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps Y - Y Y Y
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Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
1485 Set Feedback 2 Accel Filter Bandwidth N - N N N
2454 Set Feedback 2 Accel Filter Taps N - N N N
2455 Set Feedback 2 Battery Absolute N - N N N TM
1471 Set Feedback 2 Data Code N - N N N TP,SS
1470 Set Feedback 2 Data Length N - N N N TP,SS
2450 Set Feedback 2 Loss Action N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity N - N N N
1475 Set Feedback 2 Resolver Cable Balance N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio N - N N N RS
1451 Get Feedback 2 Serial Number N - N N N
1465 Set Feedback 2 Startup Method R - R R R O-Enum
1 = Absolute (N)
1484 Set Feedback 2 Velocity Filter Bandwidth N - N N N
2453 Set Feedback 2 Velocity Filter Taps N - N N N
250 Set Feedback Commutation Aligned - - Y Y Y O-Enum
2 = Motor Offset (Y)
3 = Self-Sense (N)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N)(V/N)T/N)
4 = Dual Feedback (P/N)
8 = Dual Integrator Feedback (P/N)
708 Set Feedback Data Loss User Limit Y Y Y Y Y
706 Set Feedback Noise User Limit N N N N N
707 Set Feedback Signal Loss User Limit N N N N N
44 Set Feedback Unit Ratio - - N N -
871 Set Flux Braking Enable - N N N N Ind Motor only
528 Get Flux Current Error - - Y Y Y
530 Get Flux Current Feedback - - Y Y Y
525 Get Flux Current Reference - - Y Y Y
557 Set Flux Integral Time Constant - - N N N
556 Set Flux Loop Bandwidth - - N N N
558 Set Flux Up Control - Y Y Y Y Ind Motor only
O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - N - N -
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
381 Set Flying Start Method - N - N - 0-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - Y Y Y4
499 Set Friction Compensation Static - - Y Y4 Y4
500 Set Friction Compensation Viscous - - Y Y Y4
826/421 Set Friction Compensation Window - - Y - -
981/243 Get Guard Faults - N N N N
980/242 Get Guard Status - N N N N
280 Set Home Torque Threshold - - N N - Vxx
281 Set Home Torque Time - - N N - Vxx
1349 Set Induction Motor Magnetization Reactance - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - Y N N N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - Y Y Y Y
1338 Set Linear Motor Damping Coefficient - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - N N N N Linear Motor only
1336 Set Linear Motor Mass - N Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - Y Y Y
806 Set Load Observer Bandwidth - - Y Y Y
805 Set Load Observer Configuration - - Y Y Y O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (Y)
3 = Velocity Estimate Only (Y)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - Y Y Y
807 Set Load Observer Integrator Bandwidth - - Y Y Y
802 Get Load Observer Torque Estimate - - Y Y Y
1370 Set Load Type N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
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Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
614 Set Mechanical Brake Control - Y Y Y Y
616 Set Mechanical Brake Engage Delay - Y Y Y Y
615 Set Mechanical Brake Release Delay - Y Y Y Y
45 Set Motion Scaling Configuration R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - N Y Y Y Dr NV
1313 Set Motor Data Source - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - Y5 Y Y Y
1324 Set Motor Max Winding Temperature - Y5 Y Y Y
646 Set Motor Overload Action - Y Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - Y Y Y Y
695 Set Motor Overspeed User Limit - Y5 Y Y Y
694 Set Motor Phase Loss Limit - N N N N V26/V27
1317 Set Motor Polarity - Y Y Y Y
1321 Set Motor Rated Output Power - Y Y Y Y O-PM
1320 Set Motor Rated Peak Current - Y5 Y Y Y O-IM
697 Set Motor Thermal Overload User Limit - Y Y Y Y
1001 Get Motor Test Comm Offset Comp - R R R R IPM Motor Only, V29
999 Get Motor Test Ld Flux Saturation - R R R R IPM Motor Only, V29
997 Get Motor Test Ld Inductance - R R R R IPM Motor Only, V29
998 Gett Motor Test Lq Flux Saturation - R R R R IPM Motor Only, V29
996 Get Motor Test Lq Inductance - R R R R IPM Motor Only, V29
1000 Get Motor Test Max Speed - R R R R IPM Motor Only, V29
1315 Set Motor Type - R R R R O-Enum
1 = Rotary Permanent Magnet (Y)
2 = Rotary Induction (Y)
3 = Linear Permanent Magnet (N)
4 = Linear Induction (N)
1325 Set Motor Winding to Ambient Capacitance - Y5 Y Y Y
1326 Set Motor Winding to Ambient Resistance - Y5 Y Y Y
521 Get Operative Current Limit - Y7 Y Y Y F Support in V29
600 Get Output Frequency - R Y Y Y
508 Set Overtorque Limit - N Y Y Y
509 Set Overtorque Limit Time - N Y Y Y
1355 Set PM Motor Extended Speed Permissive N N N V29
2310 Set PM Motor Flux Saturation - N Y Y Y SPM Motor only
1343 Set PM Motor Force Constant - N Y Y Y Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation N N N N IPM Motor only, V29
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
1358 Set PM Motor Linear Bus Overvoltage Speed - - N N N V29
1359 Set PM Motor Linear Max Extended Speed - - N N N V29
2314 Set PM Motor Lq Flux Saturation N N N N IPM Motor only, V29
1342 Set PM Motor Rated Force - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - N Y Y Y Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage Speed - - N N N V29
1357 Set PM Motor Rotary Max Extended Speed - - N N N V29
1340 Set PM Motor Torque Constant - N Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - Y - -
365 Get Position Fine Command - - Y - -
446 Set Position Integrator Control - - R - - O-Bit
1: Auto-Preset (N)
447 Set Position Integrator Preload - - N - -
781 Set Position Lead Lag Filter Bandwidth - - Y - -
782 Set Position Lead Lag Filter Gain - - Y - -
783 Set Position Notch Filter Frequency - - N - -
627 Set Power Loss Action - N N N N O-Enum
2 = Decel Regen (N)
628 Set Power Loss Threshold N - N N N N
630 Set Power Loss Time N - N N N N
590 Set Proving Configuration - Y5 Y Y Y V26/V27
376 Set* Ramp Acceleration - N - N - Derived
377 Set* Ramp Deceleration - N - N - Derived
378 Set Ramp Jerk Control - N - N -
375 Set* Ramp Velocity - Negative - N - N - Derived
374 Set* Ramp Velocity - Positive - N - N - Derived
613/354 Set Resistive Brake Contact Delay - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - N Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - Y Y Y Y Rotary Motor only
765 Set Safe Torque Off Action - N N N N 0-Enum
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - Y - - -
371 Set Skip Speed 2 - Y - - -
372 Set Skip Speed 3 - N - - -
146 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
373 Set Skip Speed Band - Y - - -
833 Set SLAT Configuration - - - Y -
834 Set SLAT Set Point - - - Y -
835 Set SLAT Time Delay - - - Y -
610 Set Stopping Action - R R R R O-Enum
1 = Current Decel Disable (F/Y) V26/V27
2 = Ramped Decel Disable (FV/N)
3 = Current Decel Hold (PV/Y)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - Y7 Y Y Y F Support in V29
496 Set System Inertia - - R R N
555 Set Torque Integral Time Constant - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - Y Y Y
554 Set Torque Loop Bandwidth - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - Y Y Y
843 Get Torque Low Pass Filter Bandwidth - - Y Y Y V26/V27
Estimate
503 Set Torque Notch Filter Frequency - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - Y Y Y V26/V27
837 Set Torque Notch Filter High Frequency Limit - - Y Y Y V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - Y Y Y V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - Y Y Y V26/V27
839 Set Torque Notch Filter Tuning Threshold - - Y Y Y V26/V27
591 Set Torque Prove Current - Y5 Y Y Y V26/V27
506 Set Torque Rate Limit - - Y Y Y
507/334 Set Torque Threshold - - Y Y Y
1371 Set Transmission Ratio Input N N N N N DScale
1372 Set Transmission Ratio Output N N N N N DScale
510 Set Undertorque Limit - N Y Y Y
511 Set Undertorque Limit Time - N Y Y Y
464/321 Set Velocity Droop - Y4 Y Y -
465 Set Velocity Error Tolerance - - Y Y -
466 Set Velocity Error Tolerance Time - - Y Y -
366 Get Velocity Fine Command - - Y Y -
467 Set Velocity Integrator Control - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - N N -
474/326 Set Velocity Limit - Negative - Y7 Y Y -
473/325 Set Velocity Limit - Positive - Y7 Y Y -
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 147
Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
458 Get Velocity Limit Source - - Y Y - V29
471 Set Velocity Lock Tolerance - N Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - Y Y -
790 Set Velocity Negative Feedforward Gain - - Y Y -
470/327 Set Velocity Threshold Y N Y Y Y
608 Set Zero Speed - Y5 Y Y Y V26/V27
609 Set Zero Speed Time - Y5 Y Y Y V26/V27
Kinetix 5700 Safety Drive The Kinetix 5700 single-axis and dual-axis model drives include the following
catalog numbers:
Module Optional Attributes
• 2198-S086-ERS3, 43A, 458-747 Volt DC, Network Safety STO Drive
• 2198-S130-ERS3, 65A, 458-747 Volt DC, Network Safety STO Drive
• 2198-S160-ERS3, 85A, 458-747 Volt DC, Network Safety STO Drive
• 2198-D006-ERS3, 2.5A, 458-747 Volt DC, Network Safety STO Drive
• 2198-D0012-ERS3, 5A, 458-747 Volt DC, Network Safety STO Drive
• 2198-D020-ERS3, 8A, 458-747 Volt DC, Network Safety STO Drive
• 2198-D032-ERS3, 13A, 458-747 Volt DC, Network Safety STO Drive
• 2198-D057-ERS3, 23A, 458-747 Volt DC, Network Safety STO Drive
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in the following table:
ID Access Rule Attribute Name N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - - Y Y Y
485 Set Acceleration Limit - - Y Y Y Y
482 Get Acceleration Reference - - - Y Y Y
481 Set Acceleration Trim - - - N N N
836 Set Adaptive Tuning Configuration - - - Y Y Y V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - Y Y Y V26/V27
732/267 Get Analog Input 1 N - N N N N
733/268 Get Analog Input 2 N - N N N N
734 Set Analog Output 1 N - N N N N
735 Set Analog Output 2 N - N N N N
873 Set Auto Sag Configuration - - N N N N V26/V27
874 Set Auto Sag Slip Increment - - N N N N V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
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Interpret the Attribute Tables Chapter 3
ID Access Rule Attribute Name N E F P V T Conditional Implementation
876 Set Auto Sag Start - - N N N N V26/V27
19 Set Axis Features R R R R R R 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. Event Block (N) Vxx
12: Integer Cmd. Pos. (N) Vxx
13: Ext. Motor Test (N) V29
14: Control Mode Change (N) V26/V27
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/V27
17: Pass Bus Unload (Y) V26/V27
18: Ext. Speed for SPM (N) V29
19: Ext. Speed for IPM (Y) V29
986 Get Axis Safety Data A - - Y Y Y Y V31
987 Get Axis Safety Data B - - Y Y Y Y V31
763 Get Axis Safety Faults - Y Y Y Y Y V24
985 Get Axis Safety Faults - RA - Y Y Y Y Y V31
760 Get Axis Safety State - Y Y Y Y Y V24
761 Get Axis Safety Status - Y Y Y Y Y V24
984 Get Axis Safety Status - RA - Y Y Y Y Y V31
825 Set Backlash Compensation Window - - - Y - -
593 Set Brake Prove Ramp Time - - N N N N V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
2338 Get Bus Output Overvoltage Factory N - N N N N Vxx
Limit 1
2358 Get Bus Output Overvoltage Factory N - N N N N Vxx
Limit 2
2339 Get Bus Output Undervoltage Factory N - N N N N Vxx
Limit 1
2359 Get Bus Output Undervoltage Factory N - N N N N Vxx
Limit 2
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - Y Y Y Y V26/V27
850 Set Commutation Offset Compensation - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - Y Y Y PM Motor only
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
618 Set Connection Loss Stopping Action - - Y Y Y Y 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)
637 Get Converter Capacity N - N N N N
2337 Get Converter Output Capacity 1 N - N N N N Vxx
2357 Get Converter Output Capacity 2 N - N N N N Vxx
605 Get Converter Output Current N - N N N N V26/V27
2330 Get Converter Output Current 1 N - N N N N Vxx
2350 Get Converter Output Current 2 N - N N N N Vxx
606 Get Converter Output Power N - N N N N V26/V27
2331 Get Converter Output Power 1 N - N N N N Vxx
2351 Get Converter Output Power 2 N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N - N N N N Vxx
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - Y Y Y
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - Y7 Y Y Y (F/V29)
524 Get Current Reference - - - Y Y Y
553 Set Current Vector Limit - - Y Y Y Y
2334 Get DC Bus Output Voltage 1 N - N N N N Vxx
2354 Get DC Bus Output Voltage 2 N - N N N N Vxx
742 Get DC Bus Output Voltage Reference N - N N N N Vxx
2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx
2356 Get DC Bus Output Voltage Reference 2 N - N N N N Vxx
870 Set DC Injection Brake Current - - N N N N
872 Set DC Injection Brake Time - - N N N N
486 Set Deceleration Limit - - Y Y Y Y
730 Get Digital Inputs N - N N N N
731 Set Digital Outputs N - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - Y - Y Y Y
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - N - N N N TP,SS
1420 Set Feedback 1 Data Length - N - N N N TP,SS
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Interpret the Attribute Tables Chapter 3
ID Access Rule Attribute Name N E F P V T Conditional Implementation
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation - N - N N N RS
Frequency
1423 Set Feedback 1 Resolver Excitation - N - N N N RS
Voltage
1422 Set Feedback 1 Resolver Transformer - N - N N N RS
Ratio
1401 Get Feedback 1 Serial Number - Y - Y Y Y
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - Y - Y Y Y
2454 Set Feedback 2 Accel Filter Taps - Y - Y Y Y
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - N - N N N TP,SS
1470 Set Feedback 2 Data Length - N - N N N TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation - N - N N N RS
Frequency
1473 Set Feedback 2 Resolver Excitation - N - N N N RS
Voltage
1472 Set Feedback 2 Resolver Transformer - N - N N N RS
Ratio
1451 Get Feedback 2 Serial Number - Y - Y Y Y
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - Y - Y Y Y
2453 Set Feedback 2 Velocity Filter Taps - Y - Y Y Y
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (Y)
3 = Self-Sense (N)
4 = Database Offset (N) Vxx
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
31 Set* Feedback Configuration R R R R R R 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)
708 Set Feedback Data Loss User Limit - Y Y Y Y Y
706 Set Feedback Noise User Limit - Y Y Y Y Y
707 Set Feedback Signal Loss User Limit - Y Y Y Y Y
44 Set Feedback Unit Ratio - - - Y Y -
871 Set Flux Braking Enable - - N N N N Ind Motor only
528 Get Flux Current Error - - - Y Y Y
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - Y Y Y
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - Y Y Y
558 Set Flux Up Control - - Y Y Y Y Ind Motor only
O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - N - Y -
381 Set Flying Start Method - - N - Y - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - - Y Y Y
499 Set Friction Compensation Static - - - Y Y Y
500 Set Friction Compensation Viscous - - - Y Y Y
826/421 Set Friction Compensation Window - - - Y - -
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
280 Set Home Torque Threshold - - - N N - Vxx
281 Set Home Torque Time - - - N N - Vxx
1349 Set Induction Motor Magnetization - - N N N N Ind Motor only
Reactance
1352 Set Induction Motor Rated Slip Speed - - Y Y Y Y Ind Motor only
1351 Set Induction Motor Rotor Leakage - - Y Y Y Y Ind Motor only, V26/V27
Reactance
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage - - Y Y Y Y Ind Motor only, V26/V27
Reactance
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - - Y Y Y Y
1338 Set Linear Motor Damping Coefficient - - N Y Y Y Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y Y
806 Set Load Observer Bandwidth - - - Y Y Y
805 Set Load Observer Configuration - - - Y Y Y O-Enum
1 = Load Observer Only (Y)
2 = Load Observer With Velocity Estimate (Y)
3 = Velocity Estimate Only (Y)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - Y Y Y
807 Set Load Observer Integrator Bandwidth - - - Y Y Y
802 Get Load Observer Torque Estimate - - - Y Y Y
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N Y Y Y Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - - Y Y Y Y
1324 Set Motor Max Winding Temperature - - Y Y Y Y
646 Set Motor Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - N N N N V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - Y Y Y Y Y-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
1325 Set Motor Winding to Ambient - - Y Y Y Y
Capacitance
1326 Set Motor Winding to Ambient - - Y Y Y Y
Resistance
521 Get Operative Current Limit - - Y7 Y Y Y F Support in V29
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - N Y Y Y
509 Set Overtorque Limit Time - - N Y Y Y
1355 Set PM Motor Extended Speed - - - Y Y Y V29
Permissive
2310 Set PM Motor Flux Saturation - - Y Y Y Y SPM Motor only
1343 Set PM Motor Force Constant - - Y Y Y Y Rotary PM Motor only
1358 Set PM Motor Linear Bus Overvoltage - - - N N N V29
Speed
1359 Set PM Motor Linear Max Extended - - - N N N V29
Speed
2314 Set PM Motor Lq Flux Saturation - - N Y Y Y IPM Motor only, V29/V29
2315 Set PM Motor Ld Flux Saturation - - N Y Y Y IPM Motor only, V29/V29
1342 Set PM Motor Rated Force - - Y Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - - Y Y Y Y Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage - - - Y Y Y V29
Speed
1357 Set PM Motor Rotary Max Extended - - - Y Y Y V29
Speed
1340 Set PM Motor Torque Constant - - Y Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1: Auto-Preset (Y)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - N - -
627 Set Power Loss Action - - N N N N O-Enum
2 = Decel Regen (N)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - N N N N
590 Set Proving Configuration - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - Y Y Y Y Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - Y Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - - Y Y Y Y Rotary Motor only
766 Set Safe Stopping Action - - Y Y Y Y O-Enum V31
1 = Current Decel (F/Y)
2 = Ramped Decel (FV/Y)
767 Set Safe Stopping Action Source - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
765 Set Safe Torque Off Action - - Y Y Y Y O-Enum V26/V27
1 = Current Decel Disable (F/Y)
2 = Ramped Decel Disable (FV/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
759 Set Safe Torque Off Action Source - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - N - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/Y) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/Y)
4 = Ramped Decel Hold (V/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - - Y7 Y Y Y (F/V26/V27)
496 Set System Inertia - - - R R Y
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - - Y Y Y
554 Set Torque Loop Bandwidth - - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - - Y Y Y
843 Get Torque Low Pass Filter Bandwidth - - - Y Y Y V26/V27
Estimate
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency - - - Y Y Y V26/V27
Estimate
837 Set Torque Notch Filter High Frequency - - - Y Y Y V26/V27
Limit
838 Set Torque Notch Filter Low Frequency - - - Y Y Y V26/V27
Limit
842 Get Torque Notch Filter Magnitude - - - Y Y Y V26/V27
Estimate
839 Set Torque Notch Filter Tuning - - - Y Y Y V26/V27
Threshold
591 Set Torque Prove Current - - Y Y Y Y V26/V27
506 Set Torque Rate Limit - - - Y Y Y
507/334 Set Torque Threshold - - - Y Y Y
510 Set Undertorque Limit - - N Y Y Y
511 Set Undertorque Limit Time - - N Y Y Y
464/321 Set Velocity Droop - - Y4 Y Y -
465 Set Velocity Error Tolerance - - - Y Y -
466 Set Velocity Error Tolerance Time - - - Y Y -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1: Auto-Preset (Y)
468 Set Velocity Integrator Preload - - - N N -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
458 Get Velocity Limit Source - - Y Y - V29
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - Y Y Y Y Y
589 Set Vertical Load Control - - Y Y Y - V31
608 Set Zero Speed - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - Y Y Y Y V26/V27
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
• 2198-S160-ERS4, 85A, Inverter, Advanced Safety Drive
• 2198-D006-ERS4, 2x2 5A, Dual-Axis Inverter, Advanced Safety Drive
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• 2198-D0012-ERS4, 2x5A, Dual-Axis Inverter, Advanced Safety Drive
• 2198-D020-ERS4, 2x8A, Dual-Axis Inverter, Advanced Safety Drive
• 2198-D032-ERS4, 2x13A, Dual-Axis Inverter, Advanced Safety Drive
• 2198-D057-ERS4, 2x23A, Dual-Axis Inverter, Advanced Safety Drive
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in the following table:
ID Access Rule Attribute Name N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - - Y Y Y
485 Set Acceleration Limit - - N Y Y N
482 Get Acceleration Reference - - - Y Y N
481 Set Acceleration Trim - - - N N N
836 Set Adaptive Tuning Configuration - - - Y Y Y V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - Y Y Y V26/V27
732/267 Get Analog Input 1 N - N N N N
733/268 Get Analog Input 2 N - N N N N
734 Set Analog Output 1 N - N N N N
735 Set Analog Output 2 N - N N N N
873 Set Auto Sag Configuration - - N N N N V26/V27
874 Set Auto Sag Slip Increment - - N N N N V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - N N N N V26/V27
19 Set Axis Features R R R R R R 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. Event Block (N) Vxx
12: Integer Cmd. Pos. (N) Vxx
13: Ext. Motor Test (N) V29
14: Control Mode Change (N) V26/V27
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/V27
17: Pass Bus Unload (Y) V26/V27
18: Ext. Speed for SPM (N) V29
19: Ext. Speed for IPM (Y) V29
986 Get Axis Safety Data A - - Y Y Y Y V31
987 Get Axis Safety Data B - - Y Y Y Y V31
763 Get Axis Safety Faults - Y Y Y Y Y V24
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
985 Get Axis Safety Faults - RA - Y Y Y Y Y V31
760 Get Axis Safety State - Y Y Y Y Y V24
761 Get Axis Safety Status - Y Y Y Y Y V24
984 Get Axis Safety Status - RA - Y Y Y Y Y V31
825 Set Backlash Compensation Window - - - Y - -
593 Set Brake Prove Ramp Time - - N N N N V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
2338 Get Bus Output Overvoltage Factory N - N N N N Vxx
Limit 1
2358 Get Bus Output Overvoltage Factory N - N N N N Vxx
Limit 2
2339 Get Bus Output Undervoltage Factory N - N N N N Vxx
Limit 1
2359 Get Bus Output Undervoltage Factory N - N N N N Vxx
Limit 2
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - Y Y Y Y V26/V27
850 Set Commutation Offset Compensation - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - Y Y Y PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
618 Set Connection Loss Stopping Action - - Y Y Y Y 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)
637 Get Converter Capacity N - N N N N
2337 Get Converter Output Capacity 1 N - N N N N Vxx
2357 Get Converter Output Capacity 2 N - N N N N Vxx
605 Get Converter Output Current N - N N N N V26/V27
2330 Get Converter Output Current 1 N - N N N N Vxx
2350 Get Converter Output Current 2 N - N N N N Vxx
606 Get Converter Output Power N - N N N N V26/V27
2331 Get Converter Output Power 1 N - N N N N Vxx
2351 Get Converter Output Power 2 N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N - N N N N Vxx
840 Set Current Disturbance - - - N N N
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
527 Get Current Error - - - Y Y Y
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - Y Y Y Y (F/V29)
524 Get Current Reference - - - Y Y Y
553 Set Current Vector Limit - - Y Y Y Y
2334 Get DC Bus Output Voltage 1 N - N N N N Vxx
2354 Get DC Bus Output Voltage 2 N - N N N N Vxx
742 Get DC Bus Output Voltage Reference N - N N N N Vxx
2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx
2356 Get DC Bus Output Voltage Reference 2 N - N N N N Vxx
870 Set DC Injection Brake Current - - N N N N
872 Set DC Injection Brake Time - - N N N N
486 Set Deceleration Limit - - N Y Y N
730 Get Digital Inputs N - N N N N
731 Set Digital Outputs N - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - Y - Y Y Y
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - N - N N N TP,SS
1420 Set Feedback 1 Data Length - N - N N N TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation - N - N N N RS
Frequency
1423 Set Feedback 1 Resolver Excitation - N - N N N RS
Voltage
1422 Set Feedback 1 Resolver Transformer - N - N N N RS
Ratio
1401 Get Feedback 1 Serial Number - Y - Y Y Y
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - Y - Y Y Y
2454 Set Feedback 2 Accel Filter Taps - Y - Y Y Y
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - N - N N N TP,SS
1470 Set Feedback 2 Data Length - N - N N N TP,SS
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation - N - N N N RS
Frequency
1473 Set Feedback 2 Resolver Excitation - N - N N N RS
Voltage
1472 Set Feedback 2 Resolver Transformer - N - N N N RS
Ratio
1451 Get Feedback 2 Serial Number - Y - Y Y Y
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - Y - Y Y Y
2453 Set Feedback 2 Velocity Filter Taps - Y - Y Y Y
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (Y)
3 = Self-Sense (N)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R 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)
708 Set Feedback Data Loss User Limit - Y Y Y Y Y
706 Set Feedback Noise User Limit - Y Y Y Y Y
707 Set Feedback Signal Loss User Limit - Y Y Y Y Y
44 Set Feedback Unit Ratio - - - Y Y -
871 Set Flux Braking Enable - - N N N N Ind Motor only
528 Get Flux Current Error - - - Y Y Y
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - Y Y Y
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only
O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - N - Y -
381 Set Flying Start Method - - N - Y - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - - Y Y Y
499 Set Friction Compensation Static - - - Y Y Y
500 Set Friction Compensation Viscous - - - Y Y Y
826/421 Set Friction Compensation Window - - - Y - -
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
280 Set Home Torque Threshold - - - N N - Vxx
281 Set Home Torque Time - - - N N - Vxx
1349 Set Induction Motor Magnetization - - N N N N Ind Motor only
Reactance
1352 Set Induction Motor Rated Slip Speed - - Y Y Y Y Ind Motor only
1351 Set Induction Motor Rotor Leakage - - Y Y Y Y Ind Motor only, V26/V27
Reactance
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage - - Y Y Y Y Ind Motor only, V26/V27
Reactance
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - - Y Y Y Y
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
805 Set Load Observer Configuration - - - Y Y Y O-Enum
1 = Load Observer Only (Y)
2 = Load Observer With Velocity Estimate (Y)
3 = Velocity Estimate Only (Y)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - Y Y N
802 Get Load Observer Torque Estimate - - - Y Y N
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N Y Y Y Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - - Y Y Y Y
1324 Set Motor Max Winding Temperature - - Y Y Y Y
646 Set Motor Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - N N N N V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - Y Y Y Y Y-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient - - Y Y Y Y
Capacitance
1326 Set Motor Winding to Ambient - - Y Y Y Y
Resistance
521 Get Operative Current Limit - - Y Y Y Y F Support in V29
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - N Y Y Y
509 Set Overtorque Limit Time - - N Y Y Y
1355 Set PM Motor Extended Speed - - - Y Y Y V29
Permissive
2310 Set PM Motor Flux Saturation - - N Y Y Y SPM Motor only
1343 Set PM Motor Force Constant - - N Y Y Y Rotary PM Motor only
1358 Set PM Motor Linear Bus Overvoltage - - - N N N V29
Speed
1359 Set PM Motor Linear Max Extended - - - N N N V29
Speed
2314 Set PM Motor Lq Flux Saturation - - N Y Y Y IPM Motor only, V29/V29
2315 Set PM Motor Ld Flux Saturation - - N Y Y Y IPM Motor only, V29/V29
1342 Set PM Motor Rated Force - - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N Y Y Y Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage - - - Y Y Y V29
Speed
1357 Set PM Motor Rotary Max Extended - - - Y Y Y V29
Speed
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
1340 Set PM Motor Torque Constant - - N Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - N - -
627 Set Power Loss Action - - N N N N O-Enum
2 = Decel Regen (N)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - N N N N
590 Set Proving Configuration - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - Y Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - - Y Y Y Y Rotary Motor only
766 Set Safe Stopping Action - - Y Y Y Y O-Enum V31
1 = Current Decel (F/Y)
2 = Ramped Decel (FV/Y)
767 Set Safe Stopping Action Source - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
765 Set Safe Torque Off Action - - Y Y Y Y O-Enum V26/V27
1 = Current Decel Disable (F/Y)
2 = Ramped Decel Disable (FV/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
759 Set Safe Torque Off Action Source - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - N - - -
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/Y) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/Y)
4 = Ramped Decel Hold (V/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - - Y Y Y Y (F/V26/V27)
496 Set System Inertia - - - R R Y
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - - Y Y Y
554 Set Torque Loop Bandwidth - - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - - Y Y Y
843 Get Torque Low Pass Filter Bandwidth - - - Y Y Y V26/V27
Estimate
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency - - - Y Y Y V26/V27
Estimate
837 Set Torque Notch Filter High Frequency - - - Y Y Y V26/V27
Limit
838 Set Torque Notch Filter Low Frequency - - - Y Y Y V26/V27
Limit
842 Get Torque Notch Filter Magnitude - - - Y Y Y V26/V27
Estimate
839 Set Torque Notch Filter Tuning - - - Y Y Y V26/V27
Threshold
591 Set Torque Prove Current - - Y Y Y Y V26/V27
506 Set Torque Rate Limit - - - Y Y Y
507/334 Set Torque Threshold - - - Y Y Y
510 Set Undertorque Limit - - N Y Y Y
511 Set Undertorque Limit Time - - N Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - Y Y -
466 Set Velocity Error Tolerance Time - - - Y Y -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - N N -
474/326 Set Velocity Limit - Negative - - Y Y Y -
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
473/325 Set Velocity Limit - Positive - - Y Y Y -
458 Get Velocity Limit Source - - Y Y - V29
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - Y Y Y Y Y
589 Set Vertical Load Control - - Y Y Y - V31
608 Set Zero Speed - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - Y Y Y Y V26/V27
Kinetix 5700 CIP Safety The Kinetix 5700 CIP Safety (EtherNet/IP) modules include these catalog
numbers:
(EtherNet/IP) Module Optional
Attributes • 2198-S263-ERS3 Kinetix 5700, 150A, 458-747 Volt DC, CIP Safety
(EtherNet/IP)
• 2198-S312-ERS3 Kinetix 5700, 192A, 458-747 Volt DC, CIP Safety
(EtherNet/IP)
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in this table.
ID Access Rule Attribute Name G N E F P V T Conditional Implementation
955 Set AC Line Contactor Input Checking N N - N N N N V32
2034 Set AC Line Current Unbalance Limit N - - - - - - V32
2225 Get AC Line Electrical Angle N - - - - - - V32
2245 Set AC Line Frequency Change Action N - - - - - - O-Enum V32
0 = Continue (N)
2246 Set AC Line Frequency Change Threshold N - - - - - - V32
2247 Set AC Line Frequency Change Time N - - - - - - V32
2284 Set AC Line High Freq User Limit N - - - - - - V32
2286 Set AC Line High Freq User Limit - N - - - - - - V32
Alternate
2285 Set AC Line Low Freq User Limit N - - - - - - V32
2287 Set AC Line Low Freq User Limit - N - - - - - - V32
Alternate
2289 Set AC Line Overload User Limit N - - - - - - V32
2280 Set AC Line Overvoltage User Limit N - - - - - - V32
2282 Set AC Line Overvoltage User Limit - N - - - - - - V32
Alternate
2041 Set AC Line Source Impedance N - - - - - - V32
2043 Set AC Line Source Impedance - N - - - - - - V32
Alternate
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2042 Set AC Line Source Power N - - - - - - V32
2044 Set AC Line Source Power - Alternate N - - - - - - V32
2040 Set AC Line Source Select N - - - - - - V32
2035 Set AC Line Sync Error Tolerance N - - - - - - V32
2248 Set AC Line Sync Loss Action N - - - - - - O-Enum V32
0 = Continue (N)
2249 Set AC Line Sync Loss Time N - - - - - - V32
2281 Set AC Line Undervoltage User Limit N - - - - - - V32
2283 Set AC Line Undervoltage User Limit - N - - - - - - V32
Alternate
2240 Set AC Line Voltage Sag Action N - - - - - - O-Enum V32
0 = Continue (N)
2241 Set AC Line Voltage Sag Threshold N - - - - - - V32
2242 Set AC Line Voltage Sag Time N - - - - - - V32
2014 Set AC Line Voltage Time Constant N - - - - - - V32
2033 Set AC Line Voltage Unbalance Limit N - - - - - - V32
367 Get Acceleration Fine Command - - - - Y Y Y
485 Set Acceleration Limit - - - N Y Y N
482 Get Acceleration Reference - - - - Y Y N
481 Set Acceleration Trim - - - - N N N
2091 Set Active Current Command N - - - - - - V32
2106 Get Active Current Error N - - - - - - V32
2118 Get Active Current Feedback N - - - - - - V32
2094 Set Active Current Low Pass Filter N - - - - - - V32
Bandwidth
2095 Set Active Current Notch Filter N - - - - - - V32
Frequency
2096 Set Active Current Rate Limit N - - - - - - V32
2093 Set Active Current Trim N - - - - - - V32
836 Set Adaptive Tuning Configuration - - - - Y Y Y V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - - Y Y Y V26/V27
732/267 Get Analog Input 1 N N - N N N N
733/268 Get Analog Input 2 N N - N N N N
734 Set Analog Output 1 N N - N N N N
735 Set Analog Output 2 N N - N N N N
873 Set Auto Sag Configuration - - - N N N N V26/V27
874 Set Auto Sag Slip Increment - - - N N N N V26/V27
875 Set Auto Sag Slip Time Limit - - - N N N N V26/V27
876 Set Auto Sag Start - - - N N N N V26/V27
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
19 Set Axis Features R R R R R R R 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. Event Block (N) Vxx
12: Integer Cmd. Pos. (N) Vxx
13: Ext. Motor Test (N) V29
14: Control Mode Change (N) V26/V27
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/V27
17: Pass Bus Unload (Y) V26/V27
18: Ext. Speed for SPM (N) V29
19: Ext. Speed for IPM (Y) V29
20: Ext. Pos. Feedback (N) Vxx
22: Ext. Sub Code Format (N) V32
753 Get Axis Safety Alarms - - N N N N N V32
988 Get Axis Safety Alarms - RA - - N N N N N V32
986 Get Axis Safety Data A - - - Y Y Y Y V31
987 Get Axis Safety Data B - - - Y Y Y Y V31
763 Get Axis Safety Faults - - Y Y Y Y Y V24
985 Get Axis Safety Faults - RA - - Y Y Y Y Y V31
760 Get Axis Safety State - - Y Y Y Y Y V24
761 Get Axis Safety Status - - Y Y Y Y Y V24
984 Get Axis Safety Status - RA - - Y Y Y Y Y V31
825 Set Backlash Compensation Window - - - - Y - -
593 Set Brake Prove Ramp Time - - - N N N N V26/V27
594 Set Brake Slip Tolerance - - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - - Y Y Y Y V26/V27
816 Set Bus Observer Bandwidth N - - - - - - V32
815 Set Bus Observer Configuration N - - - - - - O-Enum V32
1 = Bus Observer Only (N)
2 = Bus Observer with Voltage Estimate (N)
3 = Voltage Estimate Only (N)
812 Get Bus Observer Current Estimate N - - - - - - V32
817 Set Bus Observer Integrator Bandwidth N - - - - - - V32
811 Get Bus Observer Voltage Rate Estimate N - - - - - - V32
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2338 Get Bus Output Overvoltage Factory N N - N N N N Vxx
Limit 1
2358 Get Bus Output Overvoltage Factory N N - N N N N Vxx
Limit 2
2339 Get Bus Output Undervoltage Factory N N - N N N N Vxx
Limit 1
2359 Get Bus Output Undervoltage Factory N N - N N N N Vxx
Limit 2
638/262 Get Bus Regulator Capacity N N - N N N N
2065 Set Bus Voltage Error Tolerance N N - - - - - V32
2066 Set Bus Voltage Error Tolerance Time N N - - - - - V32
2334 Get Bus Voltage Output 1 N N - N N N N Vxx
2354 Get Bus Voltage Output 2 N N - N N N N Vxx
2064 Set Bus Voltage Rate Limit N - - - - - - V32
2050 Get Bus Voltage Reference R N - - - - - V32
2336 Get Bus Voltage Reference 1 N N - N N N N Vxx
2356 Get Bus Voltage Reference 2 N N - N N N N Vxx
2061 Set Bus Voltage Reference Source N - - - - - - V32
2060 Set Bus Voltage Set Point R N - - - - - V32
659 Get CIP Axis Alarms N N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N N Y Y Y Y Y
746 Get CIP Axis Alarms 2 N N N N N N N V32
927 Get CIP Axis Alarms 2 - RA N N N N N N N V32
748 Set CIP Axis Exception Action 2 R N N N N N N V32
909 Set CIP Axis Exception Action 2 - RA R N N N N N N V32
744 Get CIP Axis Faults 2 R N N N N N N V32
903 Get CIP Axis Faults 2 - RA R N N N N N N V32
740 Get CIP Axis Status 2 R N N N N N N V32
924 Get CIP Axis Status 2 - RA R N N N N N N V32
617 Set Coasting Time Limit - - - Y Y Y Y V26/V27
850 Set Commutation Offset Compensation - - - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - - Y Y Y PM Motor only
562 Set Commutation Self-Sensing Current - - - - N N N PM Motor only
618 Set Connection Loss Stopping Action - - - Y Y Y Y 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)
2030 Set Converter AC Input Frequency N - - - - - - V32
2031 Set Converter AC Input Phasing N - - - - - - O-Enum V32
1 = Single (N)
2032 Set Converter AC Input Voltage N - - - - - - V32
637 Get Converter Capacity N N - N N N N
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
1280 Set* Converter Configuration R - - - - - - O-Enum V32
1 = Active Current Control (N)
2001 Set Converter Control Mode R - - - - - - Derived, V32
2231 Set Converter Current Integrator N - - - - - - V32
Bandwidth
2103 Get Converter Current Limit Source N - - - - - - V32
2230 Set Converter Current Loop Bandwidth N - - - - - - V32
2322 Set Converter Current Loop Damping N - - - - - - V32
2321 Set Converter Current Loop Tuning N - - - - - - V32
Method
2232 Set Converter Current Vector Limit N - - - - - - V32
709 Set Converter Ground Current User Limit N - - - - - - V32
2288 Set Converter Heatsink Overtemp User N - - - - - - V32
Limit
2243 Set Converter Input Phase Loss Action N - - - - - - O-Enum V32
0 = Continue (N)
2244 Set Converter Input Phase Loss Time N - - - - - - V32
596 Set Converter Motoring Power Limit N N - - - - - V32
2100 Get Converter Operative Current Limit N - - - - - - V32
2337 Get Converter Output Capacity 1 N N - N N N N Vxx
2357 Get Converter Output Capacity 2 N N - N N N N Vxx
605 Get Converter Output Current N N - N N N N V26/V27
2330 Get Converter Output Current 1 N N - N N N N Vxx
2350 Get Converter Output Current 2 N N - N N N N Vxx
606 Get Converter Output Power N N - N N N N V26/V27
2331 Get Converter Output Power 1 N N - N N N N Vxx
2351 Get Converter Output Power 2 N N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N N - N N N N Vxx
2268 Set Converter Overload Action N - - - - - - O-Enum V32
1 = Current Foldback (N)
700 Set Converter Overtemperature User N - - - - - - V32
Limit
921 Set Converter Pre-Charge Overload User N - - - - - - V32
Limit
626 Set Converter Regenerative Power Limit N N - - - - - V32
2003 Set Converter Startup Method N - - - - - - O-Enum V32
1 = Enable Input (N)
2 = Automatic (N)
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
701 Set Converter Thermal Overload User N - - - - - - V32
Limit
840 Set Current Disturbance - - - - N N N
527 Get Current Error - - - - Y Y Y
529 Get Current Feedback - - - - Y Y Y
522 Get Current Limit Source - - - Y Y Y Y (F/V29)
524 Get Current Reference - - - - Y Y Y
553 Set Current Vector Limit - - - Y Y Y Y
870 Set DC Injection Brake Current - - - N N N N
872 Set DC Injection Brake Time - - - N N N N
486 Set Deceleration Limit - - - N Y Y N
730 Get Digital Inputs N N - N N N N
731 Set Digital Outputs N N - N N N N
885 Set External Bus Capacitance N - - - - - - Derived, V32
1435 Set Feedback 1 Accel Filter Bandwidth - - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - - Y - Y Y Y
2405 Set Feedback 1 Battery Absolute - - N - N N N TM
1421 Set Feedback 1 Data Code - - N - N N N TP,SS
1420 Set Feedback 1 Data Length - - N - N N N TP,SS
2400 Set Feedback 1 Loss Action - - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - - N - N N N RS
1424 Set Feedback 1 Resolver Excitation - - N - N N N RS
Frequency
1423 Set Feedback 1 Resolver Excitation - - N - N N N RS
Voltage
1422 Set Feedback 1 Resolver Transformer - - N - N N N RS
Ratio
1401 Get Feedback 1 Serial Number - - Y - Y Y Y
1415 Set Feedback 1 Startup Method - - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - - Y - Y Y Y
2454 Set Feedback 2 Accel Filter Taps - - Y - Y Y Y
2455 Set Feedback 2 Battery Absolute - - N - N N N TM
1471 Set Feedback 2 Data Code - - N - N N N TP,SS
1470 Set Feedback 2 Data Length - - N - N N N TP,SS
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2450 Set Feedback 2 Loss Action - - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - - N - N N N RS
1474 Set Feedback 2 Resolver Excitation - - N - N N N RS
Frequency
1473 Set Feedback 2 Resolver Excitation - - N - N N N RS
Voltage
1472 Set Feedback 2 Resolver Transformer - - N - N N N RS
Ratio
1451 Get Feedback 2 Serial Number - - Y - Y Y Y
1465 Set Feedback 2 Startup Method - - R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - - Y - Y Y Y
2453 Set Feedback 2 Velocity Filter Taps - - Y - Y Y Y
250 Set Feedback Commutation Aligned - - - - Y Y Y O-Enum
2 = Motor Offset (Y)
3 = Self-Sense (N)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R R 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)
708 Set Feedback Data Loss User Limit - - Y Y Y Y Y
706 Set Feedback Noise User Limit - - Y Y Y Y Y
707 Set Feedback Signal Loss User Limit - - Y Y Y Y Y
44 Set Feedback Unit Ratio - - - - Y Y -
871 Set Flux Braking Enable - - - N N N N Ind Motor only
528 Get Flux Current Error - - - - Y Y Y
530 Get Flux Current Feedback - - - - Y Y Y
525 Get Flux Current Reference - - - - Y Y Y
557 Set Flux Integral Time Constant - - - - N N N
556 Set Flux Loop Bandwidth - - - - N N N
558 Set Flux Up Control - - - Y Y Y Y Ind Motor only
O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - - N - Y -
381 Set Flying Start Method - - - N - Y - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name G N E F P V T Conditional Implementation
570 Set Frequency Control Method - - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - - - Y Y Y
499 Set Friction Compensation Static - - - - Y Y Y
500 Set Friction Compensation Viscous - - - - Y Y Y
826/421 Set Friction Compensation Window - - - - Y - -
981/243 Get Guard Faults - - - Y Y Y Y
980/242 Get Guard Status - - - Y Y Y Y
280 Set Home Torque Threshold - - - - N N - Vxx
281 Set Home Torque Time - - - - N N - Vxx
1349 Set Induction Motor Magnetization - - - N N N N Ind Motor only
Reactance
1352 Set Induction Motor Rated Slip Speed - - - Y Y Y Y Ind Motor only
1351 Set Induction Motor Rotor Leakage - - - Y Y Y Y Ind Motor only, V26/V27
Reactance
1350 Set Induction Motor Rotor Resistance - - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage - - - Y Y Y Y Ind Motor only, V26/V27
Reactance
647 Set Inverter Overload Action - - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - - - Y Y Y Y
1338 Set Linear Motor Damping Coefficient - - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - - - Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - - - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - - - Y Y N
806 Set Load Observer Bandwidth - - - - Y Y N
805 Set Load Observer Configuration - - - - Y Y N O-Enum
1 = Load Observer Only (Y)
2 = Load Observer With Velocity Estimate (Y)
3 = Velocity Estimate Only (Y)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - - Y Y N
802 Get Load Observer Torque Estimate - - - - Y Y N
750 Set Local Control N N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - - Y Y Y Y
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
615 Set Mechanical Brake Release Delay - - - Y Y Y Y
45 Set Motion Scaling Configuration - - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - - N Y Y Y Dr NV
1313 Set Motor Data Source - - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - - - Y Y Y Y
1324 Set Motor Max Winding Temperature - - - Y Y Y Y
646 Set Motor Overload Action - - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - - - Y Y Y Y
695 Set Motor Overspeed User Limit - - - Y Y Y Y
694 Set Motor Phase Loss Limit - - - N N N N V26/V27
1317 Set Motor Polarity - - - Y Y Y Y
1321 Set Motor Rated Output Power - - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - - Y Y Y Y Y-IM
697 Set Motor Thermal Overload User Limit - - - Y Y Y Y
1325 Set Motor Winding to Ambient - - - Y Y Y Y
Capacitance
1326 Set Motor Winding to Ambient - - - Y Y Y Y
Resistance
521 Get Operative Current Limit - - - Y Y Y Y F Support in V29
600 Get Output Frequency - - - R Y Y Y
508 Set Overtorque Limit - - - N Y Y Y
509 Set Overtorque Limit Time - - - N Y Y Y
1355 Set PM Motor Extended Speed - - - - Y Y Y V29
Permissive
2310 Set PM Motor Flux Saturation - - - N Y Y Y SPM Motor only
1343 Set PM Motor Force Constant - - - N Y Y Y Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation - - - N Y Y Y IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage - - - - N N N V29
Speed
1359 Set PM Motor Linear Max Extended - - - - N N N V29
Speed
2314 Set PM Motor Lq Flux Saturation - - - N Y Y Y IPM Motor only, V29
1342 Set PM Motor Rated Force - - - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - - - N Y Y Y Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage - - - - Y Y Y V29
Speed
1357 Set PM Motor Rotary Max Extended - - - - Y Y Y V29
Speed
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
1340 Set PM Motor Torque Constant - - - N Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - - - Y - -
365 Get Position Fine Command - - - - Y - -
446 Set Position Integrator Control - - - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - - Y - -
782 Set Position Lead Lag Filter Gain - - - - Y - -
783 Set Position Notch Filter Frequency - - - - N - -
627 Set Power Loss Action N N - N N N N O-Enum
2 = Decel Regen (FPVT/N)
628 Set Power Loss Threshold N N - Y Y Y Y
630 Set Power Loss Time N N - N N N N
590 Set Proving Configuration - - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - - Y - Y - Derived
377 Set* Ramp Deceleration - - - Y - Y - Derived
378 Set Ramp Jerk Control - - - Y - Y -
375 Set* Ramp Velocity - Negative - - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - - Y - Y - Derived
2092 Set Reactive Current Command N - - - - - - V32
2107 Get Reactive Current Error N - - - - - - V32
2119 Get Reactive Current Feedback N - - - - - - V32
2097 Set Reactive Current Rate Limit N - - - - - - V32
2002 Set Reactive Power Control N - - - - - - V32
2073 Set Reactive Power Rate Limit N - - - - - - V32
2070 Set Reactive Power Set Point N - - - - - - V32
613/354 Set Resistive Brake Contact Delay - - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - - - Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - - - Y Y Y Y Rotary Motor only
766 Set Safe Stopping Action - - - Y Y Y Y O-Enum V31
1 = Current Decel (F/Y)
2 = Ramped Decel (FV/Y)
767 Set Safe Stopping Action Source - - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
765 Set Safe Torque Off Action - - - Y Y Y Y O-Enum V26/V27
1 = Current Decel Disable (F/Y)
2 = Ramped Decel Disable (FV/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
759 Set Safe Torque Off Action Source - - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
758 Set Safety Fault Action - - N N N N N O-Enum V32
0 = Ignore (N)
1 = Alarm (N)
2 = Fault Status Only (N)
3 = Stop Planner (N)
629 Set Shutdown Action N N - N N N N O-Enum
0 = Disable (G/N)
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - - Y - - -
371 Set Skip Speed 2 - - - Y - - -
372 Set Skip Speed 3 - - - N - - -
373 Set Skip Speed Band - - - Y - - -
833 Set SLAT Configuration - - - - - Y -
834 Set SLAT Set Point - - - - - Y -
835 Set SLAT Time Delay - - - - - Y -
610 Set Stopping Action - - - R R R R O-Enum
1 = Current Decel Disable (F/Y) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/Y)
4 = Ramped Decel Hold (V/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - - - Y Y Y Y (F/V26/V27)
496 Set System Inertia - - - - R R N
555 Set Torque Integral Time Constant - - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - - - Y Y Y
554 Set Torque Loop Bandwidth - - - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - - - Y Y Y
843 Get Torque Low Pass Filter Bandwidth - - - - Y Y Y V26/V27
Estimate
503 Set Torque Notch Filter Frequency - - - - Y Y Y
841 Get Torque Notch Filter Frequency - - - - Y Y Y V26/V27
Estimate
837 Set Torque Notch Filter High Frequency - - - - Y Y Y V26/V27
Limit
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
838 Set Torque Notch Filter Low Frequency - - - - Y Y Y V26/V27
Limit
842 Get Torque Notch Filter Magnitude - - - - Y Y Y V26/V27
Estimate
839 Set Torque Notch Filter Tuning - - - - Y Y Y V26/V27
Threshold
591 Set Torque Prove Current - - - Y Y Y Y V26/V27
506 Set Torque Rate Limit - - - - Y Y Y
507/334 Set Torque Threshold - - - - Y Y Y
510 Set Undertorque Limit - - - N Y Y Y
511 Set Undertorque Limit Time - - - N Y Y Y
464/321 Set Velocity Droop - - - Y Y Y -
465 Set Velocity Error Tolerance - - - - Y Y -
466 Set Velocity Error Tolerance Time - - - - Y Y -
366 Get Velocity Fine Command - - - - Y Y -
467 Set Velocity Integrator Control - - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - - N N -
474/326 Set Velocity Limit - Negative - - - Y Y Y -
473/325 Set Velocity Limit - Positive - - - Y Y Y -
458 Get Velocity Limit Source - - - - Y Y - V29
471 Set Velocity Lock Tolerance - - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - - Y Y -
470/327 Set Velocity Threshold - - Y Y Y Y Y
589 Set Vertical Load Control - - - Y Y Y - V31
608 Set Zero Speed - - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - - Y Y Y Y V26/V27
Kinetix 5700 CIP Advanced The Kinetix 5700 CIP Advanced Safety (EtherNet/IP) modules include these
catalog numbers:
Safety (EtherNet/IP) Module
Optional Attributes • 2198-S263-ERS4 Kinetix 5700, 150A, 458-747 Volt DC, CIP Advanced
Safety (EtherNet/IP)
• 2198-S312-ERS4 Kinetix 5700, 192A, 458-747 Volt DC, CIP Advanced
Safety (EtherNet/IP)
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in this table.
ID Access Rule Attribute Name G N E F P V T Conditional Implementation
955 Set AC Line Contactor Input Checking N N - N N N N V32
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2034 Set AC Line Current Unbalance Limit N - - - - - - V32
2225 Get AC Line Electrical Angle N - - - - - - V32
2245 Set AC Line Frequency Change Action N - - - - - - O-Enum V32
0 = Continue (N)
2246 Set AC Line Frequency Change Threshold N - - - - - - V32
2247 Set AC Line Frequency Change Time N - - - - - - V32
2284 Set AC Line High Freq User Limit N - - - - - - V32
2286 Set AC Line High Freq User Limit - N - - - - - - V32
Alternate
2285 Set AC Line Low Freq User Limit N - - - - - - V32
2287 Set AC Line Low Freq User Limit - N - - - - - - V32
Alternate
2289 Set AC Line Overload User Limit N - - - - - - V32
2280 Set AC Line Overvoltage User Limit N - - - - - - V32
2282 Set AC Line Overvoltage User Limit - N - - - - - - V32
Alternate
2041 Set AC Line Source Impedance N - - - - - - V32
2043 Set AC Line Source Impedance - N - - - - - - V32
Alternate
2042 Set AC Line Source Power N - - - - - - V32
2044 Set AC Line Source Power - Alternate N - - - - - - V32
2040 Set AC Line Source Select N - - - - - - V32
2035 Set AC Line Sync Error Tolerance N - - - - - - V32
2248 Set AC Line Sync Loss Action N - - - - - - O-Enum V32
0 = Continue (N)
2249 Set AC Line Sync Loss Time N - - - - - - V32
2281 Set AC Line Undervoltage User Limit N - - - - - - V32
2283 Set AC Line Undervoltage User Limit - N - - - - - - V32
Alternate
2240 Set AC Line Voltage Sag Action N - - - - - - O-Enum V32
0 = Continue (N)
2241 Set AC Line Voltage Sag Threshold N - - - - - - V32
2242 Set AC Line Voltage Sag Time N - - - - - - V32
2014 Set AC Line Voltage Time Constant N - - - - - - V32
2033 Set AC Line Voltage Unbalance Limit N - - - - - - V32
367 Get Acceleration Fine Command - - - - Y Y Y
485 Set Acceleration Limit - - - N Y Y N
482 Get Acceleration Reference - - - - Y Y N
481 Set Acceleration Trim - - - - N N N
2091 Set Active Current Command N - - - - - - V32
2106 Get Active Current Error N - - - - - - V32
2118 Get Active Current Feedback N - - - - - - V32
2094 Set Active Current Low Pass Filter N - - - - - - V32
Bandwidth
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2095 Set Active Current Notch Filter N - - - - - - V32
Frequency
2096 Set Active Current Rate Limit N - - - - - - V32
2093 Set Active Current Trim N - - - - - - V32
836 Set Adaptive Tuning Configuration - - - - Y Y Y V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - - Y Y Y V26/V27
732/267 Get Analog Input 1 N N - N N N N
733/268 Get Analog Input 2 N N - N N N N
734 Set Analog Output 1 N N - N N N N
735 Set Analog Output 2 N N - N N N N
873 Set Auto Sag Configuration - - - N N N N V26/V27
874 Set Auto Sag Slip Increment - - - N N N N V26/V27
875 Set Auto Sag Slip Time Limit - - - N N N N V26/V27
876 Set Auto Sag Start - - - N N N N V26/V27
19 Set Axis Features R R R R R R R 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. Event Block (N) Vxx
12: Integer Cmd. Pos. (N) Vxx
13: Ext. Motor Test (N) V29
14: Control Mode Change (N) V26/V27
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/V27
17: Pass Bus Unload (Y) V26/V27
18: Ext. Speed for SPM (N) V29
19: Ext. Speed for IPM (Y) V29
20: Ext. Pos. Feedback (N) Vxx
22: Ext. Sub Code Format (N) V32
753 Get Axis Safety Alarms - - N N N N N V32
988 Get Axis Safety Alarms - RA - - N N N N N V32
986 Get Axis Safety Data A - - - Y Y Y Y V31
987 Get Axis Safety Data B - - - Y Y Y Y V31
763 Get Axis Safety Faults - - Y Y Y Y Y V24
985 Get Axis Safety Faults - RA - - Y Y Y Y Y V31
760 Get Axis Safety State - - Y Y Y Y Y V24
761 Get Axis Safety Status - - Y Y Y Y Y V24
984 Get Axis Safety Status - RA - - Y Y Y Y Y V31
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
825 Set Backlash Compensation Window - - - - Y - -
593 Set Brake Prove Ramp Time - - - N N N N V26/V27
594 Set Brake Slip Tolerance - - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - - Y Y Y Y V26/V27
816 Set Bus Observer Bandwidth N - - - - - - V32
815 Set Bus Observer Configuration N - - - - - - O-Enum V32
1 = Bus Observer Only (N)
2 = Bus Observer with Voltage Estimate (N)
3 = Voltage Estimate Only (N)
812 Get Bus Observer Current Estimate N - - - - - - V32
817 Set Bus Observer Integrator Bandwidth N - - - - - - V32
811 Get Bus Observer Voltage Rate Estimate N - - - - - - V32
2338 Get Bus Output Overvoltage Factory N N - N N N N Vxx
Limit 1
2358 Get Bus Output Overvoltage Factory N N - N N N N Vxx
Limit 2
2339 Get Bus Output Undervoltage Factory N N - N N N N Vxx
Limit 1
2359 Get Bus Output Undervoltage Factory N N - N N N N Vxx
Limit 2
638/262 Get Bus Regulator Capacity N N - N N N N
2065 Set Bus Voltage Error Tolerance N N - - - - - V32
2066 Set Bus Voltage Error Tolerance Time N N - - - - - V32
2334 Get Bus Voltage Output 1 N N - N N N N Vxx
2354 Get Bus Voltage Output 2 N N - N N N N Vxx
2064 Set Bus Voltage Rate Limit N - - - - - - V32
2050 Get Bus Voltage Reference R N - - - - - V32
2336 Get Bus Voltage Reference 1 N N - N N N N Vxx
2356 Get Bus Voltage Reference 2 N N - N N N N Vxx
2061 Set Bus Voltage Reference Source N - - - - - - V32
2060 Set Bus Voltage Set Point R N - - - - - V32
659 Get CIP Axis Alarms N N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N N Y Y Y Y Y
746 Get CIP Axis Alarms 2 N N N N N N N V32
927 Get CIP Axis Alarms 2 - RA N N N N N N N V32
748 Set CIP Axis Exception Action 2 R N N N N N N V32
909 Set CIP Axis Exception Action 2 - RA R N N N N N N V32
744 Get CIP Axis Faults 2 R N N N N N N V32
903 Get CIP Axis Faults 2 - RA R N N N N N N V32
740 Get CIP Axis Status 2 R N N N N N N V32
924 Get CIP Axis Status 2 - RA R N N N N N N V32
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
617 Set Coasting Time Limit - - - Y Y Y Y V26/V27
850 Set Commutation Offset Compensation - - - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - - Y Y Y PM Motor only
562 Set Commutation Self-Sensing Current - - - - N N N PM Motor only
618 Set Connection Loss Stopping Action - - - Y Y Y Y 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)
2030 Set Converter AC Input Frequency N - - - - - - V32
2031 Set Converter AC Input Phasing N - - - - - - O-Enum V32
1 = Single (N)
2032 Set Converter AC Input Voltage N - - - - - - V32
637 Get Converter Capacity N N - N N N N
1280 Set* Converter Configuration R - - - - - - O-Enum V32
1 = Active Current Control (N)
2001 Set Converter Control Mode R - - - - - - Derived, V32
2231 Set Converter Current Integrator N - - - - - - V32
Bandwidth
2103 Get Converter Current Limit Source N - - - - - - V32
2230 Set Converter Current Loop Bandwidth N - - - - - - V32
2322 Set Converter Current Loop Damping N - - - - - - V32
2321 Set Converter Current Loop Tuning N - - - - - - V32
Method
2232 Set Converter Current Vector Limit N - - - - - - V32
709 Set Converter Ground Current User Limit N - - - - - - V32
2288 Set Converter Heatsink Overtemp User N - - - - - - V32
Limit
2243 Set Converter Input Phase Loss Action N - - - - - - O-Enum V32
0 = Continue (N)
2244 Set Converter Input Phase Loss Time N - - - - - - V32
596 Set Converter Motoring Power Limit N N - - - - - V32
2100 Get Converter Operative Current Limit N - - - - - - V32
2337 Get Converter Output Capacity 1 N N - N N N N Vxx
2357 Get Converter Output Capacity 2 N N - N N N N Vxx
605 Get Converter Output Current N N - N N N N V26/V27
2330 Get Converter Output Current 1 N N - N N N N Vxx
2350 Get Converter Output Current 2 N N - N N N N Vxx
606 Get Converter Output Power N N - N N N N V26/V27
2331 Get Converter Output Power 1 N N - N N N N Vxx
2351 Get Converter Output Power 2 N N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N N - N N N N Vxx
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2352 Get Converter Output Rated Current 2 N N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N N - N N N N Vxx
2268 Set Converter Overload Action N - - - - - - O-Enum V32
1 = Current Foldback (N)
700 Set Converter Overtemperature User N - - - - - - V32
Limit
921 Set Converter Pre-Charge Overload User N - - - - - - V32
Limit
626 Set Converter Regenerative Power Limit N N - - - - - V32
2003 Set Converter Startup Method N - - - - - - O-Enum V32
1 = Enable Input (N)
2 = Automatic (N)
701 Set Converter Thermal Overload User N - - - - - - V32
Limit
840 Set Current Disturbance - - - - N N N
527 Get Current Error - - - - Y Y Y
529 Get Current Feedback - - - - Y Y Y
522 Get Current Limit Source - - - Y Y Y Y (F/V29)
524 Get Current Reference - - - - Y Y Y
553 Set Current Vector Limit - - - Y Y Y Y
870 Set DC Injection Brake Current - - - N N N N
872 Set DC Injection Brake Time - - - N N N N
486 Set Deceleration Limit - - - N Y Y N
730 Get Digital Inputs N N - N N N N
731 Set Digital Outputs N N - N N N N
885 Set External Bus Capacitance N - - - - - - Derived, V32
1435 Set Feedback 1 Accel Filter Bandwidth - - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - - Y - Y Y Y
2405 Set Feedback 1 Battery Absolute - - N - N N N TM
1421 Set Feedback 1 Data Code - - N - N N N TP,SS
1420 Set Feedback 1 Data Length - - N - N N N TP,SS
2400 Set Feedback 1 Loss Action - - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - - N - N N N RS
1424 Set Feedback 1 Resolver Excitation - - N - N N N RS
Frequency
1423 Set Feedback 1 Resolver Excitation - - N - N N N RS
Voltage
1422 Set Feedback 1 Resolver Transformer - - N - N N N RS
Ratio
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name G N E F P V T Conditional Implementation
1401 Get Feedback 1 Serial Number - - Y - Y Y Y
1415 Set Feedback 1 Startup Method - - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - - Y - Y Y Y
2454 Set Feedback 2 Accel Filter Taps - - Y - Y Y Y
2455 Set Feedback 2 Battery Absolute - - N - N N N TM
1471 Set Feedback 2 Data Code - - N - N N N TP,SS
1470 Set Feedback 2 Data Length - - N - N N N TP,SS
2450 Set Feedback 2 Loss Action - - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - - N - N N N RS
1474 Set Feedback 2 Resolver Excitation - - N - N N N RS
Frequency
1473 Set Feedback 2 Resolver Excitation - - N - N N N RS
Voltage
1472 Set Feedback 2 Resolver Transformer - - N - N N N RS
Ratio
1451 Get Feedback 2 Serial Number - - Y - Y Y Y
1465 Set Feedback 2 Startup Method - - R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - - Y - Y Y Y
2453 Set Feedback 2 Velocity Filter Taps - - Y - Y Y Y
250 Set Feedback Commutation Aligned - - - - Y Y Y O-Enum
2 = Motor Offset (Y)
3 = Self-Sense (N)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R R 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)
708 Set Feedback Data Loss User Limit - - Y Y Y Y Y
706 Set Feedback Noise User Limit - - Y Y Y Y Y
707 Set Feedback Signal Loss User Limit - - Y Y Y Y Y
44 Set Feedback Unit Ratio - - - - Y Y -
871 Set Flux Braking Enable - - - N N N N Ind Motor only
528 Get Flux Current Error - - - - Y Y Y
530 Get Flux Current Feedback - - - - Y Y Y
525 Get Flux Current Reference - - - - Y Y Y
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
557 Set Flux Integral Time Constant - - - - N N N
556 Set Flux Loop Bandwidth - - - - N N N
558 Set Flux Up Control - - - Y Y Y Y Ind Motor only
O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - - N - Y -
381 Set Flying Start Method - - - N - Y - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - - - Y Y Y
499 Set Friction Compensation Static - - - - Y Y Y
500 Set Friction Compensation Viscous - - - - Y Y Y
826/421 Set Friction Compensation Window - - - - Y - -
981/243 Get Guard Faults - - - Y Y Y Y
980/242 Get Guard Status - - - Y Y Y Y
280 Set Home Torque Threshold - - - - N N - Vxx
281 Set Home Torque Time - - - - N N - Vxx
1349 Set Induction Motor Magnetization - - - N N N N Ind Motor only
Reactance
1352 Set Induction Motor Rated Slip Speed - - - Y Y Y Y Ind Motor only
1351 Set Induction Motor Rotor Leakage - - - Y Y Y Y Ind Motor only, V26/V27
Reactance
1350 Set Induction Motor Rotor Resistance - - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage - - - Y Y Y Y Ind Motor only, V26/V27
Reactance
647 Set Inverter Overload Action - - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - - - Y Y Y Y
1338 Set Linear Motor Damping Coefficient - - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - - - Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - - - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - - - Y Y N
806 Set Load Observer Bandwidth - - - - Y Y N
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name G N E F P V T Conditional Implementation
805 Set Load Observer Configuration - - - - Y Y N O-Enum
1 = Load Observer Only (Y)
2 = Load Observer With Velocity Estimate (Y)
3 = Velocity Estimate Only (Y)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - - Y Y N
802 Get Load Observer Torque Estimate - - - - Y Y N
750 Set Local Control N N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - - Y Y Y Y
45 Set Motion Scaling Configuration - - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - - N Y Y Y Dr NV
1313 Set Motor Data Source - - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - - - Y Y Y Y
1324 Set Motor Max Winding Temperature - - - Y Y Y Y
646 Set Motor Overload Action - - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - - - Y Y Y Y
695 Set Motor Overspeed User Limit - - - Y Y Y Y
694 Set Motor Phase Loss Limit - - - N N N N V26/V27
1317 Set Motor Polarity - - - Y Y Y Y
1321 Set Motor Rated Output Power - - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - - Y Y Y Y Y-IM
697 Set Motor Thermal Overload User Limit - - - Y Y Y Y
1325 Set Motor Winding to Ambient - - - Y Y Y Y
Capacitance
1326 Set Motor Winding to Ambient - - - Y Y Y Y
Resistance
521 Get Operative Current Limit - - - Y Y Y Y F Support in V29
600 Get Output Frequency - - - R Y Y Y
508 Set Overtorque Limit - - - N Y Y Y
509 Set Overtorque Limit Time - - - N Y Y Y
1355 Set PM Motor Extended Speed - - - - Y Y Y V29
Permissive
2310 Set PM Motor Flux Saturation - - - N Y Y Y SPM Motor only
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
1343 Set PM Motor Force Constant - - - N Y Y Y Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation - - - N Y Y Y IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage - - - - N N N V29
Speed
1359 Set PM Motor Linear Max Extended - - - - N N N V29
Speed
2314 Set PM Motor Lq Flux Saturation - - - N Y Y Y IPM Motor only, V29
1342 Set PM Motor Rated Force - - - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - - - N Y Y Y Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage - - - - Y Y Y V29
Speed
1357 Set PM Motor Rotary Max Extended - - - - Y Y Y V29
Speed
1340 Set PM Motor Torque Constant - - - N Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - - - Y - -
365 Get Position Fine Command - - - - Y - -
446 Set Position Integrator Control - - - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - - Y - -
782 Set Position Lead Lag Filter Gain - - - - Y - -
783 Set Position Notch Filter Frequency - - - - N - -
627 Set Power Loss Action N N - N N N N O-Enum
2 = Decel Regen (FPVT/N)
628 Set Power Loss Threshold N N - Y Y Y Y
630 Set Power Loss Time N N - N N N N
590 Set Proving Configuration - - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - - Y - Y - Derived
377 Set* Ramp Deceleration - - - Y - Y - Derived
378 Set Ramp Jerk Control - - - Y - Y -
375 Set* Ramp Velocity - Negative - - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - - Y - Y - Derived
2092 Set Reactive Current Command N - - - - - - V32
2107 Get Reactive Current Error N - - - - - - V32
2119 Get Reactive Current Feedback N - - - - - - V32
2097 Set Reactive Current Rate Limit N - - - - - - V32
2002 Set Reactive Power Control N - - - - - - V32
2073 Set Reactive Power Rate Limit N - - - - - - V32
2070 Set Reactive Power Set Point N - - - - - - V32
613/354 Set Resistive Brake Contact Delay - - - N N N N PM Motor only
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
1333 Set Rotary Motor Damping Coefficient - - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - - - Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - - - Y Y Y Y Rotary Motor only
766 Set Safe Stopping Action - - - Y Y Y Y O-Enum V31
1 = Current Decel (F/Y)
2 = Ramped Decel (FV/Y)
767 Set Safe Stopping Action Source - - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
765 Set Safe Torque Off Action - - - Y Y Y Y O-Enum V26/V27
1 = Current Decel Disable (F/Y)
2 = Ramped Decel Disable (FV/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
759 Set Safe Torque Off Action Source - - - Y Y Y Y O-Enum V31
1 = Running Controller (Y)
758 Set Safety Fault Action - - N N N N N O-Enum V32
0 = Ignore (EFPVT/N)
1 = Alarm (EFPVT/N)
2 = Fault Status Only (FPVT/N)
3 = Stop Planner (FPVT/N)
629 Set Shutdown Action N N - N N N N O-Enum
0 = Disable (G/N)
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - - Y - - -
371 Set Skip Speed 2 - - - Y - - -
372 Set Skip Speed 3 - - - N - - -
373 Set Skip Speed Band - - - Y - - -
833 Set SLAT Configuration - - - - - Y -
834 Set SLAT Set Point - - - - - Y -
835 Set SLAT Time Delay - - - - - Y -
610 Set Stopping Action - - - R R R R O-Enum
1 = Current Decel Disable (F/Y) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/Y)
4 = Ramped Decel Hold (V/Y)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - - - Y Y Y Y (F/V26/V27)
496 Set System Inertia - - - - R R N
555 Set Torque Integral Time Constant - - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - - - Y Y Y
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
554 Set Torque Loop Bandwidth - - - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - - - Y Y Y
843 Get Torque Low Pass Filter Bandwidth - - - - Y Y Y V26/V27
Estimate
503 Set Torque Notch Filter Frequency - - - - Y Y Y
841 Get Torque Notch Filter Frequency - - - - Y Y Y V26/V27
Estimate
837 Set Torque Notch Filter High Frequency - - - - Y Y Y V26/V27
Limit
838 Set Torque Notch Filter Low Frequency - - - - Y Y Y V26/V27
Limit
842 Get Torque Notch Filter Magnitude - - - - Y Y Y V26/V27
Estimate
839 Set Torque Notch Filter Tuning - - - - Y Y Y V26/V27
Threshold
591 Set Torque Prove Current - - - Y Y Y Y V26/V27
506 Set Torque Rate Limit - - - - Y Y Y
507/334 Set Torque Threshold - - - - Y Y Y
510 Set Undertorque Limit - - - N Y Y Y
511 Set Undertorque Limit Time - - - N Y Y Y
464/321 Set Velocity Droop - - - Y Y Y -
465 Set Velocity Error Tolerance - - - - Y Y -
466 Set Velocity Error Tolerance Time - - - - Y Y -
366 Get Velocity Fine Command - - - - Y Y -
467 Set Velocity Integrator Control - - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - - N N -
474/326 Set Velocity Limit - Negative - - - Y Y Y -
473/325 Set Velocity Limit - Positive - - - Y Y Y -
458 Get Velocity Limit Source - - - - Y Y - V29
471 Set Velocity Lock Tolerance - - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - - Y Y -
470/327 Set Velocity Threshold - - Y Y Y Y Y
589 Set Vertical Load Control - - - Y Y Y - V31
608 Set Zero Speed - - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - - Y Y Y Y V26/V27
Kinetix 5700 Regenerative Bus The Kinetix 5700 Regenerative Bus Supply modules include these catalog
numbers:
Supply Module Optional
Attributes • 2198-RP088 Kinetix 5700 Regenerative Bus Supply, 24kW, 35A / 88A
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• 2198-RP200 Kinetix 5700 Regenerative Bus Supply, 67kW, 100A / 200A
• 2198-RP263 Kinetix 5700 Regenerative Bus Supply, 119kW, 176A / 263A
• 2198-RP312 Kinetix 5700 Regenerative Bus Supply, 140kW, 207A / 312A
These drive modules support the optional attributes and corresponding control
mode functionality as indicated in this table.
ID Access Rule Attribute Name G N E F P V T Conditional Implementation
955 Set AC Line Contactor Input Checking N N - N N N N V32
2034 Set AC Line Current Unbalance Limit Y - - - - - - V32
2225 Get AC Line Electrical Angle Y - - - - - - V32
2245 Set AC Line Frequency Change Action N - - - - - - O-Enum V32
0 = Continue (N)
2246 Set AC Line Frequency Change Threshold Y - - - - - - V32
2247 Set AC Line Frequency Change Time Y - - - - - - V32
2284 Set AC Line High Freq User Limit N - - - - - - V32
2286 Set AC Line High Freq User Limit - N - - - - - - V32
Alternate
2285 Set AC Line Low Freq User Limit N - - - - - - V32
2287 Set AC Line Low Freq User Limit - N - - - - - - V32
Alternate
2289 Set AC Line Overload User Limit N - - - - - - V32
2280 Set AC Line Overvoltage User Limit N - - - - - - V32
2282 Set AC Line Overvoltage User Limit - N - - - - - - V32
Alternate
923 Set AC Line Resonance User Limit N - - - - - - V32
2041 Set AC Line Source Impedance N - - - - - - V32
2043 Set AC Line Source Impedance - N - - - - - - V32
Alternate
2042 Set AC Line Source Power Y - - - - - - V32
2044 Set AC Line Source Power - Alternate N - - - - - - V32
2040 Set AC Line Source Select N - - - - - - V32
2035 Set AC Line Sync Error Tolerance Y - - - - - - V32
2248 Set AC Line Sync Loss Action N - - - - - - O-Enum V32
0 = Continue (N)
2249 Set AC Line Sync Loss Time Y - - - - - - V32
2281 Set AC Line Undervoltage User Limit N - - - - - - V32
2283 Set AC Line Undervoltage User Limit - N - - - - - - V32
Alternate
2240 Set AC Line Voltage Sag Action N - - - - - - O-Enum V32
0 = Continue (N)
2241 Set AC Line Voltage Sag Threshold Y - - - - - - V32
2242 Set AC Line Voltage Sag Time Y - - - - - - V32
2014 Set AC Line Voltage Time Constant Y - - - - - - V32
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2033 Set AC Line Voltage Unbalance Limit Y - - - - - - V32
367 Get Acceleration Fine Command - - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
2091 Set Active Current Command N - - - - - - V32
2106 Get Active Current Error Y - - - - - - V32
2118 Get Active Current Feedback Y - - - - - - V32
2094 Set Active Current Low Pass Filter N - - - - - - V32
Bandwidth
2095 Set Active Current Notch Filter N - - - - - - V32
Frequency
2096 Set Active Current Rate Limit N - - - - - - V32
2093 Set Active Current Trim N - - - - - - V32
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N N - N N N N
733/268 Get Analog Input 2 N N - N N N N
734 Set Analog Output 1 N N - N N N N
735 Set Analog Output 2 N N - N N N N
873 Set Auto Sag Configuration - - - N N N N V26/V27
874 Set Auto Sag Slip Increment - - - N N N N V26/V27
875 Set Auto Sag Slip Time Limit - - - N N N N V26/V27
876 Set Auto Sag Start - - - N N N N V26/V27
19 Set Axis Features R R R R R R R 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. Event Block (N) Vxx
12: Integer Cmd. Pos. (N) Vxx
13: Ext. Motor Test (N) V29
14: Control Mode Change (N) V26/V27
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/V27
17: Pass Bus Unload (Y) V26/V27
18: Ext. Speed for SPM (N) Vxx
19: Ext. Speed for IPM (Y) V29
20: Ext. Pos. Feedback (N) Vxx
22: Ext. Sub Code Format (Y) V32
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
753 Get Axis Safety Alarms - - N N N N N V32
988 Get Axis Safety Alarms - RA - - N N N N N V32
986 Get Axis Safety Data A - - - N N N N V31
987 Get Axis Safety Data B - - - N N N N V31
763 Get Axis Safety Faults - - N N N N N V24
985 Get Axis Safety Faults - RA - - N N N N N V31
760 Get Axis Safety State - - N N N N N V24
761 Get Axis Safety Status - - N N N N N V24
984 Get Axis Safety Status - RA - - N N N N N V31
825 Set Backlash Compensation Window - - - - N - -
593 Set Brake Prove Ramp Time - - - N N N N V26/V27
594 Set Brake Slip Tolerance - - - N N N N V26/V27
592 Set Brake Test Torque - - - N N N N V26/V27
816 Set Bus Observer Bandwidth N - - - - - - V32
815 Set Bus Observer Configuration Y - - - - - - O-Enum V32
1 = Bus Observer Only (Y)
2 = Bus Observer with Voltage Estimate (Y)
3 = Voltage Estimate Only (Y)
812 Get Bus Observer Current Estimate N - - - - - - V32
817 Set Bus Observer Integrator Bandwidth N - - - - - - V32
811 Get Bus Observer Voltage Rate Estimate Y - - - - - - V32
2338 Get Bus Output Overvoltage Factory N N - N N N N Vxx
Limit 1
2358 Get Bus Output Overvoltage Factory N N - N N N N Vxx
Limit 2
2339 Get Bus Output Undervoltage Factory N N - N N N N Vxx
Limit 1
2359 Get Bus Output Undervoltage Factory N N - N N N N Vxx
Limit 2
638/262 Get Bus Regulator Capacity N N - N N N N
2065 Set Bus Voltage Error Tolerance Y N - - - - - V32
2066 Set Bus Voltage Error Tolerance Time Y N - - - - - V32
2334 Get Bus Voltage Output 1 N N - N N N N Vxx
2354 Get Bus Voltage Output 2 N N - N N N N Vxx
2064 Set Bus Voltage Rate Limit Y - - - - - - V32
2050 Get Bus Voltage Reference R N - - - - - V32
2336 Get Bus Voltage Reference 1 N N - N N N N Vxx
2356 Get Bus Voltage Reference 2 N N - N N N N Vxx
2061 Set Bus Voltage Reference Source Y - - - - - - V32
2060 Set Bus Voltage Set Point R N - - - - - V32
659 Get CIP Axis Alarms Y N N N N N N
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
904 Get CIP Axis Alarms - RA Y N N N N N N
746 Get CIP Axis Alarms 2 Y N N N N N N V32
927 Get CIP Axis Alarms 2 - RA Y N N N N N N V32
748 Set CIP Axis Exception Action 2 R N N N N N N V32
909 Set CIP Axis Exception Action 2 - RA R N N N N N N V32
744 Get CIP Axis Faults 2 R N N N N N N V32
903 Get CIP Axis Faults 2 - RA R N N N N N N V32
740 Get CIP Axis Status 2 R N N N N N N V32
924 Get CIP Axis Status 2 - RA R N N N N N N V32
617 Set Coasting Time Limit - - - N N N N V26/V27
850 Set Commutation Offset Compensation - - - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - - N N N PM Motor only
618 Set Connection Loss Stopping Action - - - N N N N O-Enum V31
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
2030 Set Converter AC Input Frequency N - - - - - - V32
2031 Set Converter AC Input Phasing N - - - - - - O-Enum V32
1 = Single (N)
2032 Set Converter AC Input Voltage N - - - - - - V32
637 Get Converter Capacity Y N - N N N N
1280 Set* Converter Configuration R - - - - - - O-Enum V32
1 = Active Current Control (N)
2001 Set Converter Control Mode R - - - - - - Derived, V32
2231 Set Converter Current Integrator Y - - - - - - V32
Bandwidth
2103 Get Converter Current Limit Source Y - - - - - - V32
2230 Set Converter Current Loop Bandwidth Y - - - - - - V32
2322 Set Converter Current Loop Damping N - - - - - - V32
2321 Set Converter Current Loop Tuning N - - - - - - V32
Method
2232 Set Converter Current Vector Limit Y - - - - - - V32
709 Set Converter Ground Current User Limit Y - - - - - - V32
2288 Set Converter Heatsink Overtemp User N - - - - - - V32
Limit
2243 Set Converter Input Phase Loss Action N - - - - - - O-Enum V32
0 = Continue (N)
2244 Set Converter Input Phase Loss Time Y - - - - - - V32
596 Set Converter Motoring Power Limit Y N - - - - - V32
2100 Get Converter Operative Current Limit Y - - - - - - V32
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2337 Get Converter Output Capacity 1 N N - N N N N Vxx
2357 Get Converter Output Capacity 2 N N - N N N N Vxx
605 Get Converter Output Current Y N - N N N N V26/V27
2330 Get Converter Output Current 1 N N - N N N N Vxx
2350 Get Converter Output Current 2 N N - N N N N Vxx
606 Get Converter Output Power Y N - N N N N V26/V27
2331 Get Converter Output Power 1 N N - N N N N Vxx
2351 Get Converter Output Power 2 N N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N N - N N N N Vxx
2268 Set Converter Overload Action N - - - - - - O-Enum V32
1 = Current Foldback (N)
700 Set Converter Overtemperature User N - - - - - - V32
Limit
921 Set Converter Pre-Charge Overload User N - - - - - - V32
Limit
626 Set Converter Regenerative Power Limit Y N - - - - - V32
2003 Set Converter Startup Method Y - - - - - - O-Enum V32
1 = Enable Input (N)
2 = Automatic (Y)
701 Set Converter Thermal Overload User Y - - - - - - V32
Limit
840 Set Current Disturbance - - - - N N N
527 Get Current Error - - - - N N N
529 Get Current Feedback - - - - N N N
522 Get Current Limit Source - - - O O O O (F/V29)
524 Get Current Reference - - - - N N N
553 Set Current Vector Limit - - - N N N N
870 Set DC Injection Brake Current - - - N N N N
872 Set DC Injection Brake Time - - - N N N N
486 Set Deceleration Limit - - - N N N N
730 Get Digital Inputs N N - N N N N
731 Set Digital Outputs N N - N N N N
885 Set External Bus Capacitance N - - - - - - Derived, V32
1435 Set Feedback 1 Accel Filter Bandwidth - - N - N N N
2404 Set Feedback 1 Accel Filter Taps - - N - N N N
2405 Set Feedback 1 Battery Absolute - - N - N N N TM
1421 Set Feedback 1 Data Code - - N - N N N TP,SS
1420 Set Feedback 1 Data Length - - N - N N N TP,SS
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2400 Set Feedback 1 Loss Action - - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - - N - N N N
1425 Set Feedback 1 Resolver Cable Balance - - N - N N N RS
1424 Set Feedback 1 Resolver Excitation - - N - N N N RS
Frequency
1423 Set Feedback 1 Resolver Excitation - - N - N N N RS
Voltage
1422 Set Feedback 1 Resolver Transformer - - N - N N N RS
Ratio
1401 Get Feedback 1 Serial Number - - N - N N N
1415 Set Feedback 1 Startup Method - - R - R R R O-Enum
1 = Absolute (N)
1434 Set Feedback 1 Velocity Filter Bandwidth - - N - N N N
2403 Set Feedback 1 Velocity Filter Taps - - N - N N N
1485 Set Feedback 2 Accel Filter Bandwidth - - N - N N N
2454 Set Feedback 2 Accel Filter Taps - - N - N N N
2455 Set Feedback 2 Battery Absolute - - N - N N N TM
1471 Set Feedback 2 Data Code - - N - N N N TP,SS
1470 Set Feedback 2 Data Length - - N - N N N TP,SS
2450 Set Feedback 2 Loss Action - - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - - N - N N N
1475 Set Feedback 2 Resolver Cable Balance - - N - N N N RS
1474 Set Feedback 2 Resolver Excitation - - N - N N N RS
Frequency
1473 Set Feedback 2 Resolver Excitation - - N - N N N RS
Voltage
1472 Set Feedback 2 Resolver Transformer - - N - N N N RS
Ratio
1451 Get Feedback 2 Serial Number - - N - N N N
1465 Set Feedback 2 Startup Method - - R - R R R O-Enum
1 = Absolute (N)
1484 Set Feedback 2 Velocity Filter Bandwidth - - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - - N - N N N
250 Set Feedback Commutation Aligned - - - - N N N O-Enum
2 = Motor Offset (N)
3 = Self-Sense (N)
4 = Database Offset (N) Vxx
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
31 Set* Feedback Configuration R R R R R R R O-Enum
0 = No Feedback (V/N)(T/N)
3 = Load Feedback (P/N)(V/N)(T/N)
4 = Dual Feedback (P/N)
8 = Dual Integrator Feedback (P/N)
708 Set Feedback Data Loss User Limit - - N N N N N
706 Set Feedback Noise User Limit - - N N N N N
707 Set Feedback Signal Loss User Limit - - N N N N N
44 Set Feedback Unit Ratio - - - - N N -
871 Set Flux Braking Enable - - - N N N N Ind Motor only
528 Get Flux Current Error - - - - N N N
530 Get Flux Current Feedback - - - N N N
525 Get Flux Current Reference - - - - N N N
557 Set Flux Integral Time Constant - - - - N N N
556 Set Flux Loop Bandwidth - - - - N N N
558 Set Flux Up Control - - - N N N N Ind Motor only
O-Enum
1 = Manual Delay (N)
2 = Automatic Delay (N)
559 Set Flux Up Time - - - N N N N Ind Motor only
380 Set Flying Start Enable - - - N - N -
381 Set Flying Start Method - - - N - N - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (N)
129 = Sensorless Vector (N)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - - - N N N
499 Set Friction Compensation Static - - - - N N N
500 Set Friction Compensation Viscous - - - - N N N
826/421 Set Friction Compensation Window - - - - N - -
981/243 Get Guard Faults - - - N N N N
980/242 Get Guard Status - - - N N N N
280 Set Home Torque Threshold - - - - N N - Vxx
281 Set Home Torque Time - - - - N N - Vxx
1349 Set Induction Motor Magnetization - - - N N N N Ind Motor only
Reactance
1352 Set Induction Motor Rated Slip Speed - - - N N N N Ind Motor only
1351 Set Induction Motor Rotor Leakage - - - N N N N Ind Motor only, V26/V27
Reactance
1350 Set Induction Motor Rotor Resistance - - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage - - - N N N N Ind Motor only, V26/V27
Reactance
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
647 Set Inverter Overload Action - - - N N N N O-Enum
1 = Current Foldback (N)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - - - N N N N
1338 Set Linear Motor Damping Coefficient - - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - - - N N N Linear Motor only
1337 Set Linear Motor Max Speed - - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - - N N N
806 Set Load Observer Bandwidth - - - - N N N
805 Set Load Observer Configuration - - - - N N N O-Enum
1 = Load Observer Only (N)
2 = Load Observer With Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - - N N N
807 Set Load Observer Integrator Bandwidth - - - - N N N
802 Get Load Observer Torque Estimate - - - - N N N
750 Set Local Control N N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - - N N N N
616 Set Mechanical Brake Engage Delay - - - N N N N
615 Set Mechanical Brake Release Delay - - - N N N N
45 Set Motion Scaling Configuration - - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - - N N N N Dr NV
1313 Set Motor Data Source - - - R R R R O-Enum
1 = Database (N)
2 = Drive NV (N)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - - N N N N
1324 Set Motor Max Winding Temperature - - - N N N N
646 Set Motor Overload Action - - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - - N N N N
695 Set Motor Overspeed User Limit - - - N N N N
694 Set Motor Phase Loss Limit - - - N N N N V26/V27
1317 Set Motor Polarity - - - N N N N
1321 Set Motor Rated Output Power - - - N N N N O-PM
1320 Set Motor Rated Peak Current - - - N N N N O-IM
697 Set Motor Thermal Overload User Limit - - - N N N N
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
1325 Set Motor Winding to Ambient - - - N N N N
Capacitance
1326 Set Motor Winding to Ambient - - - N N N N
Resistance
521 Get Operative Current Limit - - - N N N N F Support in V29
600 Get Output Frequency - - - R N N N
508 Set Overtorque Limit - - - N N N N
509 Set Overtorque Limit Time - - - N N N N
1355 Set PM Motor Extended Speed - - - - N N N V29
Permissive
2310 Set PM Motor Flux Saturation - - - N N N N SPM Motor only
1343 Set PM Motor Force Constant - - - N N N N Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation - - - N N N N IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage - - - - N N N V29
Speed
1359 Set PM Motor Linear Max Extended - - - - N N N V29
Speed
2314 Set PM Motor Lq Flux Saturation - - - N N N N IPM Motor only, V29
1342 Set PM Motor Rated Force - - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - - N N N N Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage - - - - N N N V29
Speed
1357 Set PM Motor Rotary Max Extended - - - - N N N V29
Speed
1340 Set PM Motor Torque Constant - - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - - N - -
365 Get Position Fine Command - - - - N - -
446 Set Position Integrator Control - - - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - - N - -
782 Set Position Lead Lag Filter Gain - - - - N - -
783 Set Position Notch Filter Frequency - - - - N - -
627 Set Power Loss Action N N - N N N N O-Enum
2 = Decel Regen (FPVT/N)
628 Set Power Loss Threshold Y N - N N N N
630 Set Power Loss Time Y N - N N N N
590 Set Proving Configuration - - - N N N N V26/V27
376 Set* Ramp Acceleration - - - N - N - Derived
377 Set* Ramp Deceleration - - - N - N - Derived
378 Set Ramp Jerk Control - - - N - N -
375 Set* Ramp Velocity - Negative - - - N - N - Derived
374 Set* Ramp Velocity - Positive - - - N - N - Derived
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
2092 Set Reactive Current Command N - - - - - - V32
2107 Get Reactive Current Error Y - - - - - - V32
2119 Get Reactive Current Feedback Y - - - - - - V32
2097 Set Reactive Current Rate Limit N - - - - - - V32
2002 Set Reactive Power Control N - - - - - - V32
2073 Set Reactive Power Rate Limit N - - - - - - V32
2070 Set Reactive Power Set Point N - - - - - - V32
613/354 Set Resistive Brake Contact Delay - - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - - - N N N Rotary Motor only
1332 Set Rotary Motor Max Speed - - - N N N N Rotary Motor only
766 Set Safe Stopping Action - - - N N N N O-Enum V31
1 = Current Decel (F/N)
2 = Ramped Decel (FV/N)
767 Set Safe Stopping Action Source - - - N N N N O-Enum V31
1 = Running Controller (N)
765 Set Safe Torque Off Action - - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
759 Set Safe Torque Off Action Source - - - N N N N O-Enum V31
1 = Running Controller (N)
758 Set Safety Fault Action - - N N N N N O-Enum V32
0 = Ignore (EFPVT/N)
1 = Alarm (EFPVT/N)
2 = Fault Status Only (FPVT/N)
3 = Stop Planner (FPVT/N)
629 Set Shutdown Action Y N - N N N N O-Enum
0 = Disable (G/Y)
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - - N - - -
371 Set Skip Speed 2 - - - N - - -
372 Set Skip Speed 3 - - - N - - -
373 Set Skip Speed Band - - - N - - -
833 Set SLAT Configuration - - - - - N -
834 Set SLAT Set Point - - - - - N -
835 Set SLAT Time Delay - - - - - N -
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
610 Set Stopping Action - - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/N)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - - - N N N N (F/V26/V27)
496 Set System Inertia - - - - R R N
555 Set Torque Integral Time Constant - - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - - N N N
828 Set Torque Lead Lag Filter Gain - - - - N N N
554 Set Torque Loop Bandwidth - - - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - - N N N
843 Get Torque Low Pass Filter Bandwidth - - - - N N N V26/V27
Estimate
503 Set Torque Notch Filter Frequency - - - - N N N
841 Get Torque Notch Filter Frequency - - - - N N N V26/V27
Estimate
837 Set Torque Notch Filter High Frequency - - - - N N N V26/V27
Limit
838 Set Torque Notch Filter Low Frequency - - - - N N N V26/V27
Limit
842 Get Torque Notch Filter Magnitude - - - - N N N V26/V27
Estimate
839 Set Torque Notch Filter Tuning - - - - N N N V26/V27
Threshold
591 Set Torque Prove Current - - - N N N N V26/V27
506 Set Torque Rate Limit - - - - N N N
507/334 Set Torque Threshold - - - - N N N
510 Set Undertorque Limit - - - N N N N
511 Set Undertorque Limit Time - - - N N N N
464/321 Set Velocity Droop - - - N N N -
465 Set Velocity Error Tolerance - - - - N N -
466 Set Velocity Error Tolerance Time - - - - N N -
366 Get Velocity Fine Command - - - - N N -
467 Set Velocity Integrator Control - - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - - N N -
474/326 Set Velocity Limit - Negative - - - N N N -
473/325 Set Velocity Limit - Positive - - - N N N -
458 Get Velocity Limit Source - - - - N N - V29
471 Set Velocity Lock Tolerance - - - N N N -
469 Set Velocity Low Pass Filter Bandwidth - - - - N N -
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ID Access Rule Attribute Name G N E F P V T Conditional Implementation
790 Set Velocity Negative Feedforward Gain - - - - N N -
470/327 Set Velocity Threshold - - N N N N N
589 Set Vertical Load Control - - - N N N - V31
608 Set Zero Speed - - - N N N N V26/V27
609 Set Zero Speed Time - - - N N N N V26/V27
Kinetix 6500 Drive Module The following table identifies the optional attributes and corresponding control
Optional Attributes mode functionality supported by a Kinetix 6500 drive module.
ID Access Rule Attribute Name N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - Y Y Y
485 Set Acceleration Limit - N Y Y N
482 Get Acceleration Reference - - Y Y N
481 Set Acceleration Trim - - N N N
1376 Set Actuator Diameter N N N N N DScale
1377 Set Actuator Diameter Unit N N N N N DScale
1374 Set Actuator Lead N N N N N DScale
1375 Set Actuator Lead Unit N N N N N DScale
1373 Set Actuator Type N N N N N DScale
732/267 Get Analog Input 1 B B N N N N
733/268 Get Analog Input 2 B B N N N N
734 Set Analog Output 1 B B N N N N
735 Set Analog Output 2 B B N N N N
30 Set Axis Configuration R R R R R O-Enum
0 = Feedback Only (Y)
1 = Frequency Control (N)
2 = Position Loop (Y)
3 = Velocity Loop (Y)
4 = Torque Loop (Y)
19 Set Axis Features R R R R R 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 (N)
8 = Inertia Test (Y)
9 = Sensorless Control (N)
763 Get Axis Safety Faults O O O O Y
760 Get Axis Safety State O O O O Y
761 Get Axis Safety Status O O O O Y
825 Set Backlash Compensation Window - - Y - -
638/262 Get Bus Regulator Capacity - N Y Y Y
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
659 Get CIP Axis Alarms Y N Y Y Y
904 Get CIP Axis Alarms - RA Y N Y Y Y
563 Set Commutation Polarity - - Y Y Y PM Motor only
562 Set Commutation Self-Sensing Current - - Y Y Y PM Motor only O-Value = 100
637 Get Converter Capacity - N Y Y Y
840 Set Current Disturbance - - N N N
527 Get Current Error - - Y Y Y
529 Get Current Feedback - - Y Y Y
522 Get Current Limit Source - - Y Y Y
524 Get Current Reference - - Y Y Y
553 Set Current Vector Limit - N N N N
870 Set DC Injection Brake Current - N N N N Ind Motor only
872 Set DC Injection Brake Time - N N N N Ind Motor only
486 Set Deceleration Limit - N Y Y N
730 Get Digital Inputs - N N N N
731 Set Digital Outputs - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps Y - Y Y Y
2405 Set Feedback 1 Battery Absolute N - N N N TM
1421 Set Feedback 1 Data Code N - N N N TP,SS
1420 Set Feedback 1 Data Length N - N N N TP,SS
2400 Set Feedback 1 Loss Action N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio N - N N N RS
1401 Get Feedback 1 Serial Number Y - Y Y Y
1415 Set Feedback 1 Startup Method R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth Y - Y Y Y
2454 Set Feedback 2 Accel Filter Taps Y - Y Y Y
2455 Set Feedback 2 Battery Absolute N - N N N TM
1471 Set Feedback 2 Data Code N - N N N TP,SS
1470 Set Feedback 2 Data Length N - N N N TP,SS
2450 Set Feedback 2 Loss Action N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
1464 Set Feedback 2 Polarity Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio N - N N N RS
1451 Get Feedback 2 Serial Number Y - Y Y Y
1465 Set Feedback 2 Startup Method R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth Y - Y Y Y
2453 Set Feedback 2 Velocity Filter Taps Y - Y Y Y
250 Set Feedback Commutation Aligned - - Y Y Y O-Enum
2 = Motor Offset (Y)
3 = Self-Sense (Y)
31 Set* Feedback Configuration R R R R R O-Enum
0 = No Feedback (V/N)
3 = Load Feedback (PVT/Y)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/N)
708 Set Feedback Data Loss User Limit Y N Y Y Y
706 Set Feedback Noise User Limit N N N N N
707 Set Feedback Signal Loss User Limit Y N Y Y Y
44 Set Feedback Unit Ratio - - Y Y -
871 Set Flux Braking Enable - N N N N Ind Motor only
528 Get Flux Current Error - - Y Y Y
530 Get Flux Current Feedback - - Y Y Y
525 Get Flux Current Reference - - Y Y Y
557 Set Flux Integral Time Constant - - N N N
556 Set Flux Loop Bandwidth - - N N N
558 Set Flux Up Control - N N N N Ind Motor only, O-Enum
1 = Manual Delay (N)
2 = Automatic Delay (N)
559 Set Flux Up Time - N N N N Ind Motor only
380 Set Flying Start Enable - N - N -
570 Set Frequency Control Method - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (N)
129 = Sensorless Vector (N)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - Y Y N
499 Set Friction Compensation Static - - Y N N
500 Set Friction Compensation Viscous - - Y Y N
826/421 Set Friction Compensation Window - - Y - -
981/243 Get Guard Faults - N Y Y Y
980/242 Get Guard Status - N Y Y Y
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
1349 Set Induction Motor Magnetization Reactance - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - N N N N Ind Motor only
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
647 Set Inverter Overload Action - N Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (N)
129 = PWM Foldback (N)
699 Set Inverter Thermal Overload User Limit - N Y Y Y
1338 Set Linear Motor Damping Coefficient - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - N N N N Linear Motor only
1336 Set Linear Motor Mass - N Y Y Y Linear Motor only
1337 Set Linear Motor Max Speed - N Y Y Y Linear Motor only
801 Get Load Observer Acceleration Estimate - - Y Y Y
806 Set Load Observer Bandwidth - - Y Y Y
805 Set Load Observer Configuration - - Y Y Y O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (Y)
3 = Velocity Estimate Only (Y)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - Y Y Y
807 Set Load Observer Integrator Bandwidth - - Y Y Y
802 Get Load Observer Torque Estimate - - Y Y Y
1370 Set Load Type N N N N N DScale
750 Set Local Control N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - N Y Y Y
616 Set Mechanical Brake Engage Delay - N Y Y Y
615 Set Mechanical Brake Release Delay - N Y Y Y
45 Set Motion Scaling Configuration R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - N Y Y Y Dr NV
1313 Set Motor Data Source - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - N Y Y Y
1324 Set Motor Max Winding Temperature - N N N N
646 Set Motor Overload Action - N Y Y Y O-Enum
1 = Current Foldback (Y)
1322 Set Motor Overload Limit - N Y Y Y
695 Set Motor Overspeed User Limit - N N N N
1317 Set Motor Polarity - N Y Y Y
1321 Set Motor Rated Output Power - N Y Y Y N-IM
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ID Access Rule Attribute Name N E F P V T Conditional Implementation
1320 Set Motor Rated Peak Current - N Y Y Y N-IM
697 Set Motor Thermal Overload User Limit - N Y Y Y
1315 Set Motor Type - R R R R O-Enum
1 = Rotary Permanent Magnet (Y)
2 = Rotary Induction (N)
3 = Linear Permanent Magnet (Y)
4 = Linear Induction (N)
1325 Set Motor Winding to Ambient Capacitance - N Y Y Y
1326 Set Motor Winding to Ambient Resistance - N Y Y Y
521 Get Operative Current Limit - - Y Y Y
600 Get Output Frequency - R Y Y Y
508 Set Overtorque Limit - N Y Y Y
509 Set Overtorque Limit Time - N Y Y Y
2310 Set PM Motor Flux Saturation - N Y Y Y PM Motor only
1343 Set PM Motor Force Constant - N Y Y Y Rotary PM Motor only
1342 Set PM Motor Rated Force - N Y Y Y Rotary PM Motor only
1339 Set PM Motor Rated Torque - N Y Y Y Rotary PM Motor only
1340 Set PM Motor Torque Constant - N Y Y Y Rotary PM Motor only
445 Set Position Error Tolerance Time - - Y - -
365 Get Position Fine Command - - Y - -
446 Set Position Integrator Control - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - N - -
781 Set Position Lead Lag Filter Bandwidth - - Y - -
782 Set Position Lead Lag Filter Gain - - Y - -
783 Set Position Notch Filter Frequency - - Y - -
627 Set Power Loss Action - N N N N O-Enum
1 = Coast Thru (N)
2 = Decel Regen (N)
628 Set Power Loss Threshold - N N N N
630 Set Power Loss Time - N N N N
376 Set* Ramp Acceleration - N - N - Derived
377 Set* Ramp Deceleration - N - N - Derived
378 Set Ramp Jerk Control - N - N -
375 Set* Ramp Velocity - Negative - N - N - Derived
374 Set* Ramp Velocity - Positive - N - N - Derived
613/354 Set Resistive Brake Contact Delay - N Y Y Y PM Motor only
1333 Set Rotary Motor Damping Coefficient - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - N Y Y Y Rotary Motor only
1332 Set Rotary Motor Max Speed - N Y Y Y Rotary Motor only
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Chapter 3 Interpret the Attribute Tables
ID Access Rule Attribute Name N E F P V T Conditional Implementation
629 Set Shutdown Action - N Y Y Y O-Enum
1 = Drop DC Bus (Y)
370 Set Skip Speed 1 - N - - -
371 Set Skip Speed 2 - N - - -
372 Set Skip Speed 3 - N - - -
373 Set Skip Speed Band - N - - -
833 Set SLAT Configuration - - - N -
834 Set SLAT Set Point - - - N -
835 Set SLAT Time Delay - - - N -
610 Set Stopping Action - R R R R 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)
612 Set Stopping Time Limit - - Y Y Y
496 Set System Inertia - - R R N
555 Set Torque Integral Time Constant - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - Y Y Y
828 Set Torque Lead Lag Filter Gain - - Y Y Y
554 Set Torque Loop Bandwidth - - Y Y Y
502 Set Torque Low Pass Filter Bandwidth - - Y Y Y
503 Set Torque Notch Filter Frequency - - Y Y Y
506 Set Torque Rate Limit - - Y Y Y
507/334 Set Torque Threshold - - Y Y Y
1371 Set Transmission Ratio Input N N N N N DScale
1372 Set Transmission Ratio Output N N N N N DScale
510 Set Undertorque Limit - N Y Y Y
511 Set Undertorque Limit Time - N Y Y Y
464/321 Set Velocity Droop - N Y Y -
465 Set Velocity Error Tolerance - - Y Y -
466 Set Velocity Error Tolerance Time - - Y Y -
366 Get Velocity Fine Command - - Y Y -
467 Set Velocity Integrator Control - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - N N -
474/326 Set Velocity Limit - Negative - N Y Y -
473/325 Set Velocity Limit - Positive - N Y Y -
471 Set Velocity Lock Tolerance - N Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - Y Y -
790 Set Velocity Negative Feedforward Gain - - Y Y -
470/327 Set Velocity Threshold Y N Y Y Y
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PowerFlex 527 Axis Instance The following table identifies the optional attributes and corresponding control
mode functionality supported by a PowerFlex 527 drive module.
Optional Attributes
ID Access Attribute N E F P V T Conditional Implementation
Rule
367 Get Acceleration Fine Command - - - Y Y N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
1376 Set Actuator Diameter - N N N N N DScale
1377 Set Actuator Diameter Unit - N N N N N DScale
1374 Set Actuator Lead - N N N N N DScale
1375 Set Actuator Lead Unit - N N N N N DScale
1373 Set Actuator Type - N N N N N DScale
836 Set Adaptive Tuning Configuration - - - N N N Vxx
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N Vxx
732/267 Get Analog Input 1 N - Y Y Y N
733/268 Get Analog Input 2 N - Y Y Y N
734 Set Analog Output 1 N - Y Y Y N
735 Set Analog Output 2 N - N N N N
873 Set Auto Sag Configuration - - N N N N Vxx
874 Set Auto Sag Slip Increment - - N N N N Vxx
875 Set Auto Sag Slip Time Limit - - N N N N Vxx
876 Set Auto Sag Start - - N N N N Vxx
19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N)
11 = Ext. Event Block (N)
12 = Integer Cmd. Pos. (N)
13 = Ext. Motor Test (N)
763 Get Axis Safety Faults - N Y Y Y N V24
760 Get Axis Safety State - N Y Y Y N V24
761 Get Axis Safety Status - N Y Y Y N V24
825 Set Backlash Compensation Window - - - N - -
593 Set Brake Prove Ramp Time - - N N N N Vxx
594 Set Brake Slip Tolerance - - N N N N Vxx
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
592 Set Brake Test Torque - - N N N N Vxx
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N N Y Y Y N
904 Get CIP Axis Alarms - RA N N Y Y Y N
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only O-Value = #
637 Get Converter Capacity N - N N N N
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
529 Get Current Feedback - - - Y Y N
522 Get Current Limit Source - - - N N N
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y Y Y N
870 Set DC Injection Brake Current - - N N N N
872 Set DC Injection Brake Time - - N N N N
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y N
731 Set Digital Outputs N - Y Y Y N
1435 Set Feedback 1 Accel Filter Bandwidth - N - N N N
2404 Set Feedback 1 Accel Filter Taps - N - N N N
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - N - N N N TP,SS
1420 Set Feedback 1 Data Length - N - N N N TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1= Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y N
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (N)
1434 Set Feedback 1 Velocity Filter Bandwidth - N - Y Y N
2403 Set Feedback 1 Velocity Filter Taps - N - Y Y N
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - N - N N N TP,SS
1470 Set Feedback 2 Data Length - N - N N N TP,SS
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ID Access Attribute N E F P V T Conditional Implementation
Rule
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N) 2 = Switch to
Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - N - N N N
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1= Absolute (N)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - - N N N O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N)
31 Set Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/N)(T/N)
3 = Load Feedback (PVT/N)
4 = Dual Feedback (P/N)
8 = Dual Integrator Feedback (P/N)
708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - N N -
871 Set Flux Braking Enable - - N N N N Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y N
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - N N N N Ind Motor only, O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - N N N N Ind Motor only
380 Set Flying Start Enable - - N - N -
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
500 Set Friction Compensation Viscous - - - N N N
826/421 Set Friction Compensation Window - - - N - -
981/243 Get Guard Faults - - Y Y Y N
980/242 Get Guard Status - - Y Y Y N
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y N Ind Motor only, V24
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y N Ind Motor only, V24
647 Set Inverter Overload Action - - Y Y Y N O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - N N N
806 Set Load Observer Bandwidth - - - N N N
805 Set Load Observer Configuration - - - N N N O-Enum
1 = Load Observer Only (N)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (N)
809 Set Load Observer Feedback Gain - - - N N N
807 Set Load Observer Integrator Bandwidth - - - N N N
802 Get Load Observer Torque Estimate - - - N N N
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - N N N N
616 Set Mechanical Brake Engage Delay - - N N N N
615 Set Mechanical Brake Release Delay - - N N N N
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (N)
2 = Drive NV (N)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
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Rule
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y N
695 Set Motor Overspeed User Limit - - Y Y Y N
694 Set Motor Phase Loss Limit - - N N N N V24
1317 Set Motor Polarity - - Y Y Y N
1321 Set Motor Rated Output Power - - Y Y Y N O-IM
1320 Set Motor Rated Peak Current - - N N N N O-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y N
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - - Y Y N
600 Get Output Frequency - - R Y Y N
508 Set Overtorque Limit - - Y Y Y N
509 Set Overtorque Limit Time - - Y Y Y N
2310 Set PM Motor Flux Saturation - - N N N N PM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1 = Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - N - -
782 Set Position Lead Lag Filter Gain - - - N - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y N O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y N
630 Set Power Loss Time N - Y Y Y N
590 Set Proving Configuration - - N N N N Vxx
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N N N N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - N -
834 Set SLAT Set Point - - - - N -
835 Set SLAT Time Delay - - - - N -
610 Set Stopping Action - - R R R R 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)
129 = AC Injection Brake (FPVT/N)
612 Set Stopping Time Limit - - - N N N
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - Y Y N
828 Set Torque Lead Lag Filter Gain - - - Y Y N
554 Set Torque Loop Bandwidth - - - Y Y N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N Vxx
503 Set Torque Notch Filter Frequency - - - Y Y N
841 Get Torque Notch Filter Frequency Estimate - - - N N N Vxx
837 Set Torque Notch Filter High Frequency Limit - - - N N N Vxx
838 Set Torque Notch Filter Low Frequency Limit - - - N N N Vxx
842 Get Torque Notch Filter Magnitude Estimate - - - N N N Vxx
839 Set Torque Notch Filter Tuning Threshold - - - N N N Vxx
591 Set Torque Prove Current - - N N N N Vxx
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
1371 Set Transmission Ratio Input - N N N N N DScale
1372 Set Transmission Ratio Output - N N N N N DScale
510 Set Undertorque Limit - - Y Y Y N
511 Set Undertorque Limit Time - - Y Y Y N
464/321 Set Velocity Droop - - Y N Y -
465 Set Velocity Error Tolerance - - - Y Y -
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ID Access Attribute N E F P V T Conditional Implementation
Rule
466 Set Velocity Error Tolerance Time - - - Y Y -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1 = Auto-Preset (N)
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
471 Set Velocity Lock Tolerance - - N Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - N N -
470/327 Set Velocity Threshold - N N Y Y N
608 Set Zero Speed - - N N N N V24
609 Set Zero Speed Time - - N N N N V24
PowerFlex 755 Standard Drive The following table identifies the optional attributes and corresponding control
mode functionality supported by a PowerFlex 755-EENET-CM drive module.
Module Optional Attributes
ID Access Attribute N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
1376 Set Actuator Diameter - N N N N N DScale
1377 Set Actuator Diameter Unit - N N N N N DScale
1374 Set Actuator Lead - N N N N N DScale
1375 Set Actuator Lead Unit - N N N N N DScale
1373 Set Actuator Type - N N N N N DScale
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N - Y Y Y Y
733/268 Get Analog Input 2 N - Y Y Y Y
734 Set Analog Output 1 N - Y Y Y Y
735 Set Analog Output 2 N - Y Y Y Y
873 Set Auto Sag Configuration - - Y Y Y Y V26/V27
874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - Y Y Y Y V26/27
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19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N) Vxx
11 = Ext. Event Block (N) Vxx
12 = Integer Cmd. Pos (N) Vxx
13 = Ext. Motor Test (N) Vxx
763 Get Axis Safety Faults - N N N N N V24/V25
760 Get Axis Safety State - N N N N N V24/V25
761 Get Axis Safety Status - N N N N N V24/V25
825 Set Backlash Compensation Window - - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - N N N N V26/V27
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
O-Value = #
637 Get Converter Capacity N - N N N N
605 Get Converter Output Current N - N N N N V26/V27
606 Get Converter Output Power N - N N N N V26/V27
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - - Y Y Y
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y N N N
870 Set DC Injection Brake Current - - Y Y Y Y
872 Set DC Injection Brake Time - - Y Y Y Y
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y Y
731 Set Digital Outputs N - Y Y Y Y
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - N - N N N
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2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS
1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1= Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS
1470 Set Feedback 2 Data Length - Y - Y Y Y TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1= Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N) (V/N) (T/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
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708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - Y N -
871 Set Flux Braking Enable - - Y Y Y Y Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - Y - Y -
381 Set Flying Start Method - - N - N - Vxx/Vxx
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
500 Set Friction Compensation Viscous - - - N N N
826/421 Set Friction Compensation Window - - - N - -
981/243 Get Guard Faults - - N N N N
980/242 Get Guard Status - - N N N N
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
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805 Set Load Observer Configuration - - - Y Y N O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - N N N
802 Get Load Observer Torque Estimate - - - Y Y N
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (Y)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - N N N N N-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - N N N N
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - Y Y Y Y
509 Set Overtorque Limit Time - - Y Y Y Y
2310 Set PM Motor Flux Saturation - - N N N N PM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
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Chapter 3 Interpret the Attribute Tables
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1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1 = Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y Y O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N Y Y N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
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610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/Y)
129 = AC Injection Brake (FPVT/Y)
612 Set Stopping Time Limit - - N N N N
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - N N N
828 Set Torque Lead Lag Filter Gain - - - N N N
554 Set Torque Loop Bandwidth - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27
503 Set Torque Notch Filter Frequency - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - - N N N V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27
591 Set Torque Prove Current - - N N N N V26/V27
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
1371 Set Transmission Ratio Input - N N N N N DScale
1372 Set Transmission Ratio Output - N N N N N DScale
510 Set Undertorque Limit - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - N N -
466 Set Velocity Error Tolerance Time - - - N N -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1 = Auto-Preset (N)
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - N Y Y Y N
608 Set Zero Speed - - Y Y Y Y V26/V27
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Chapter 3 Interpret the Attribute Tables
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609 Set Zero Speed Time - - Y Y Y Y V26/V27
PowerFlex 755 High Power, The following table identifies the optional attributes and corresponding control
Standard Drive Module Optional mode functionality supported by a PowerFlex 755-HiPwr-EENET-CM drive
Attributes module.
ID Access Attribute N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
1376 Set Actuator Diameter - N N N N N DScale
1377 Set Actuator Diameter Unit - N N N N N DScale
1374 Set Actuator Lead - N N N N N DScale
1375 Set Actuator Lead Unit - N N N N N DScale
1373 Set Actuator Type - N N N N N DScale
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N - Y Y Y Y
733/268 Get Analog Input 2 N - Y Y Y Y
734 Set Analog Output 1 N - Y Y Y Y
735 Set Analog Output 2 N - Y Y Y Y
873 Set Auto Sag Configuration - - Y Y Y Y V26/V27
874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - Y Y Y Y V26/27
19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N) Vxx
11 = Ext. Event Block (N) Vxx
12 = Integer Cmd. Pos (N) Vxx
13 = Ext. Motor Test (N) Vxx
763 Get Axis Safety Faults - N N N N N V24/V25
760 Get Axis Safety State - N N N N N V24/V25
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ID Access Attribute N E F P V T Conditional Implementation
761 Get Axis Safety Status - N N N N N V24/V25
825 Set Backlash Compensation Window - - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - N N N N V26/V27
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
O-Value = #
637 Get Converter Capacity N - N N N N
605 Get Converter Output Current N - N N N N V26/V27
606 Get Converter Output Power N - N N N N V26/V27
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - - Y Y Y
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y N N N
870 Set DC Injection Brake Current - - Y Y Y Y
872 Set DC Injection Brake Time - - Y Y Y Y
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y Y
731 Set Digital Outputs N - Y Y Y Y
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - N - N N N
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS
1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1= Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
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1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS
1470 Set Feedback 2 Data Length - Y - Y Y Y TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1= Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N) (V/N) (T/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - Y N -
871 Set Flux Braking Enable - - Y Y Y Y Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
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ID Access Attribute N E F P V T Conditional Implementation
380 Set Flying Start Enable - - Y - Y -
381 Set Flying Start Method - - N - N - Vxx/Vxx
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
500 Set Friction Compensation Viscous - - - N N N
826/421 Set Friction Compensation Window - - - N - -
981/243 Get Guard Faults - - N N N N
980/242 Get Guard Status - - N N N N
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
805 Set Load Observer Configuration - - - Y Y N O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - N N N
802 Get Load Observer Torque Estimate - - - Y Y N
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (Y)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - N N N N N-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - N N N N
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - Y Y Y Y
509 Set Overtorque Limit Time - - Y Y Y Y
2310 Set PM Motor Flux Saturation - - N N N N PM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1 = Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y Y O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/V27
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ID Access Attribute N E F P V T Conditional Implementation
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N Y Y N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/Y)
129 = AC Injection Brake (FPVT/Y)
612 Set Stopping Time Limit - - N N N N
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - N N N
828 Set Torque Lead Lag Filter Gain - - - N N N
554 Set Torque Loop Bandwidth - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27
503 Set Torque Notch Filter Frequency - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
838 Set Torque Notch Filter Low Frequency Limit - - - N N N V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27
591 Set Torque Prove Current - - N N N N V26/V27
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
1371 Set Transmission Ratio Input - N N N N N DScale
1372 Set Transmission Ratio Output - N N N N N DScale
510 Set Undertorque Limit - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - N N -
466 Set Velocity Error Tolerance Time - - - N N -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1 = Auto-Preset (N)
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - N Y Y Y N
608 Set Zero Speed - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - Y Y Y Y V26/V27
PowerFlex 755 Low Power, The following table identifies the optional attributes and corresponding control
Non-Network Safety Drive mode functionality supported by a PowerFlex 755-EENET-CM-S and PowerFlex
Module Optional Attributes 755-EENET-CM-S1 drive module.
ID Access Attribute N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
1376 Set Actuator Diameter - N N N N N DScale
1377 Set Actuator Diameter Unit - N N N N N DScale
1374 Set Actuator Lead - N N N N N DScale
1375 Set Actuator Lead Unit - N N N N N DScale
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ID Access Attribute N E F P V T Conditional Implementation
1373 Set Actuator Type - N N N N N DScale
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N - Y Y Y Y
733/268 Get Analog Input 2 N - Y Y Y Y
734 Set Analog Output 1 N - Y Y Y Y
735 Set Analog Output 2 N - Y Y Y Y
873 Set Auto Sag Configuration - - Y Y Y Y V26/V27
874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - Y Y Y Y V26/27
19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N) Vxx
11 = Ext. Event Block (N) Vxx
12 = Integer Cmd. Pos (N) Vxx
13 = Ext. Motor Test (N) Vxx
763 Get Axis Safety Faults - N N N N N V24/V25
760 Get Axis Safety State - N N N N N V24/V25
761 Get Axis Safety Status - N N N N N V24/V25
825 Set Backlash Compensation Window - - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - N N N N V26/V27
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
O-Value = #
637 Get Converter Capacity N - N N N N
605 Get Converter Output Current N - N N N N V26/V27
606 Get Converter Output Power N - N N N N V26/V27
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - - Y Y Y
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y N N N
870 Set DC Injection Brake Current - - Y Y Y Y
872 Set DC Injection Brake Time - - Y Y Y Y
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y Y
731 Set Digital Outputs N - Y Y Y Y
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - N - N N N
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS
1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1= Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS
1470 Set Feedback 2 Data Length - Y - Y Y Y TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
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ID Access Attribute N E F P V T Conditional Implementation
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1= Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N) (V/N) (T/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - Y N -
871 Set Flux Braking Enable - - Y Y Y Y Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - Y - Y -
381 Set Flying Start Method - - N - N - Vxx/Vxx
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
500 Set Friction Compensation Viscous - - - N N N
826/421 Set Friction Compensation Window - - - N - -
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
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Chapter 3 Interpret the Attribute Tables
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1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
805 Set Load Observer Configuration - - - Y Y N O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - N N N
802 Get Load Observer Torque Estimate - - - Y Y N
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (Y)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - N N N N N-IM
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ID Access Attribute N E F P V T Conditional Implementation
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - N N N N
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - Y Y Y Y
509 Set Overtorque Limit Time - - Y Y Y Y
2310 Set PM Motor Flux Saturation - - N N N N PM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1 = Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y Y O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N Y Y N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/Y)
129 = AC Injection Brake (FPVT/Y)
612 Set Stopping Time Limit - - N N N N
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - N N N
828 Set Torque Lead Lag Filter Gain - - - N N N
554 Set Torque Loop Bandwidth - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27
503 Set Torque Notch Filter Frequency - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - - N N N V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27
591 Set Torque Prove Current - - N N N N V26/V27
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
1371 Set Transmission Ratio Input - N N N N N DScale
1372 Set Transmission Ratio Output - N N N N N DScale
510 Set Undertorque Limit - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - N N -
466 Set Velocity Error Tolerance Time - - - N N -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1 = Auto-Preset (N)
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ID Access Attribute N E F P V T Conditional Implementation
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - N Y Y Y N
608 Set Zero Speed - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - Y Y Y Y V26/V27
PowerFlex 755 High Power, The following table identifies the optional attributes and corresponding control
Non-Network Safety Drive mode functionality supported by a PowerFlex 755-HiPwr-EENET-CM-S and
Module Optional Attributes PowerFlex 755-HiPwr-EENET-CM-S1 drive module.
ID Access Attribute N E F P V T Conditional Implementation
367 Get Acceleration Fine Command - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
1376 Set Actuator Diameter - N N N N N DScale
1377 Set Actuator Diameter Unit - N N N N N DScale
1374 Set Actuator Lead - N N N N N DScale
1375 Set Actuator Lead Unit - N N N N N DScale
1373 Set Actuator Type - N N N N N DScale
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N - Y Y Y Y
733/268 Get Analog Input 2 N - Y Y Y Y
734 Set Analog Output 1 N - Y Y Y Y
735 Set Analog Output 2 N - Y Y Y Y
873 Set Auto Sag Configuration - - Y Y Y Y V26/V27
874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - Y Y Y Y V26/27
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Chapter 3 Interpret the Attribute Tables
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19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N) Vxx
11 = Ext. Event Block (N) Vxx
12 = Integer Cmd. Pos (N) Vxx
13 = Ext. Motor Test (N) Vxx
763 Get Axis Safety Faults - N N N N N V24/V25
760 Get Axis Safety State - N N N N N V24/V25
761 Get Axis Safety Status - N N N N N V24/V25
825 Set Backlash Compensation Window - - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
638/262 Get Bus Regulator Capacity N - N N N N
659 Get CIP Axis Alarms N Y Y Y Y Y
904 Get CIP Axis Alarms - RA N Y Y Y Y Y
617 Set Coasting Time Limit - - N N N N V26/V27
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
O-Value = #
637 Get Converter Capacity N - N N N N
605 Get Converter Output Current N - N N N N V26/V27
606 Get Converter Output Power N - N N N N V26/V27
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - - Y Y Y
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y N N N
870 Set DC Injection Brake Current - - Y Y Y Y
872 Set DC Injection Brake Time - - Y Y Y Y
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y Y
731 Set Digital Outputs N - Y Y Y Y
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - N - N N N
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2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS
1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1= Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS
1470 Set Feedback 2 Data Length - Y - Y Y Y TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1= Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N) (V/N) (T/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
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708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - Y N -
871 Set Flux Braking Enable - - Y Y Y Y Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - Y - Y -
381 Set Flying Start Method - - N - N - Vxx/Vxx
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y)
129 = Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
500 Set Friction Compensation Viscous - - - N N N
826/421 Set Friction Compensation Window - - - N - -
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
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805 Set Load Observer Configuration - - - Y Y N O-Enum
1 = Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - - Y Y N
807 Set Load Observer Integrator Bandwidth - - - N N N
802 Get Load Observer Torque Estimate - - - Y Y N
1370 Set Load Type - N N N N N DScale
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (Y)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26/V27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - N N N N N-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - N N N N
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - Y Y Y Y
509 Set Overtorque Limit Time - - Y Y Y Y
2310 Set PM Motor Flux Saturation - - N N N N PM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
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Chapter 3 Interpret the Attribute Tables
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1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1 = Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y Y O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N Y Y N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/N)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
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ID Access Attribute N E F P V T Conditional Implementation
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/Y)
129 = AC Injection Brake (FPVT/Y)
612 Set Stopping Time Limit - - N N N N
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - N N N
828 Set Torque Lead Lag Filter Gain - - - N N N
554 Set Torque Loop Bandwidth - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27
503 Set Torque Notch Filter Frequency - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - - N N N V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27
591 Set Torque Prove Current - - N N N N V26/V27
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
1371 Set Transmission Ratio Input - N N N N N DScale
1372 Set Transmission Ratio Output - N N N N N DScale
510 Set Undertorque Limit - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - N N -
466 Set Velocity Error Tolerance Time - - - N N -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1 = Auto-Preset (N)
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold - N Y Y Y N
608 Set Zero Speed - - Y Y Y Y V26/V27
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Chapter 3 Interpret the Attribute Tables
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609 Set Zero Speed Time - - Y Y Y Y V26/V27
PowerFlex 755 Low and High The following table identifies the optional attributes and corresponding control
mode functionality supported by a PowerFlex 755-EENET-CM-S3 and
Power, STO Only Network Safety
PowerFlex 755-HiPwr-EENET-CM-S3 drive module.
Drive Module Optional
Attributes
ID Access Attribute N E F P V T Conditional Implementation
Rule
367 Get Acceleration Fine Command - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N - Y Y Y Y
733/268 Get Analog Input 2 N - Y Y Y Y
734 Set Analog Output 1 N - Y Y Y Y
735 Set Analog Output 2 N - Y Y Y Y
873 Set Auto Sag Configuration - - Y Y Y Y V26/V27
874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - Y Y Y Y V26/V27
19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N) Vxx
11 = Ext. Event Block (N) Vxx
12 = Integer Cmd. Pos (N) Vxx
13 = Ext. Motor Test (N) V29
14 = Control Mode Change (N) V26/V27
15 = Feedback Mode Change (N) Vxx
16 = Pass Bus Status (N) V26/V27
17 = Pass Bus Unload (N) V26/V27
18 = Ext. Speed for SPM (N)) V29
19 = Ext. Speed for IPM (N) V29
986 Get Axis Safety Data A - - N N N N V31
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Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
987 Get Axis Safety Data B - - N N N N V31
763 Get Axis Safety Faults - Y Y Y Y Y V24
985 Get Axis Safety Faults - RA - N N N N N V31
760 Get Axis Safety State - Y Y Y Y Y V24
761 Get Axis Safety Status - Y Y Y Y Y V24
984 Get Axis Safety Status - RA - N N N N N V31
825 Set Backlash Compensation Window - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
592 Set Brake Test Torque - - Y Y Y Y V26/V27
2338 Get Bus Output Overvoltage Factory Limit 1 N - N N N N Vxx
2358 Get Bus Output Overvoltage Factory Limit 2 N - N N N N Vxx
2339 Get Bus Output Undervoltage Factory Limit 1 N - N N N N Vxx
2359 Get Bus Output Undervoltage Factory Limit 2 N - N N N N Vxx
638/262 Get Bus Regulator Capacity - N N N N
659 Get CIP Axis Alarms Y Y Y Y Y
904 Get CIP Axis Alarms - RA Y Y Y Y Y
617 Set Coasting Time Limit - - N N N N V26/V27
850 Set Commutation Offset Compensation - - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - N N N PM Motor only O-Value = #
618 Set Connection Loss Stopping Action - - N N N N O-Enum V31
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (F/V/N)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
637 Get Converter Capacity N - N N N N
2337 Get Converter Output Capacity 1 N - N N N N Vxx
2357 Get Converter Output Capacity 2 N - N N N N Vxx
605 Get Converter Output Current N - N N N N V26/V27
2330 Get Converter Output Current 1 N - N N N N Vxx
2350 Get Converter Output Current 2 N - N N N N Vxx
606 Get Converter Output Current N - N N N N V26/V27
2331 Get Converter Output Power 1 N - N N N N Vxx
2351 Get Converter Output Power 2 N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N - N N N N Vxx
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - - N N N (F/V29)
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y N N N
2334 Get DC Bus Output Voltage 1 N - N N N N Vxx
2354 Get DC Bus Output Voltage 2 N - N N N N Vxx
742 Get DC Bus Output Voltage Reference N - N N N N Vxx
2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx
2356 Get DC Bus Output Voltage Reference 2 N - N N N N Vxx
870 Set DC Injection Brake Current - - Y Y Y Y
872 Set DC Injection Brake Time - - Y Y Y Y
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y Y
731 Set Digital Outputs N - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - N - N N N
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS
1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1= Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS
1470 Set Feedback 2 Data Length - Y - Y Y Y TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
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Interpret the Attribute Tables Chapter 3
ID Access Attribute N E F P V T Conditional Implementation
Rule
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
250 Set Feedback Commutation Aligned - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N) (V/N) (T/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - Y N -
871 Set Flux Braking Enable - - Y Y Y Y Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - Y - Y -
381 Set Flying Start Method - - N - N - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y) 129 =
Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
500 Set Friction Compensation Viscous - - - N N N
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
826/421 Set Friction Compensation Window - - - - - N
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
280 Set Home Torque Threshold - - - N N - Vxx
281 Set Home Torque Time - - - N N - Vxx
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
805 Set Load Observer Configuration - - - Y Y N O-Enum
1= Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - Y Y N
807 Set Load Observer Integrator Bandwidth - - N N N
802 Get Load Observer Torque Estimate - - Y Y N
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (Y)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
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ID Access Attribute N E F P V T Conditional Implementation
Rule
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26/v27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - N N N N N-IM
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - - N N N (F/V29)
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - Y Y Y Y
509 Set Overtorque Limit Time - - Y Y Y Y
1355 Set PM Motor Extended Speed Permissive - - - N N N V29
2310 Set PM Motor Flux Saturation - - N N N N SPM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation - - N N N N IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage Speed - - - N N N V29
1359 Set PM Motor Linear Max Extended Speed - - - N N N V29
2314 Set PM Motor Lq Flux Saturation - - N N N N IPM Motor only, V29
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage Speed - - - N N N V29
1357 Set PM Motor Rotary Max Extended Speed - - - N N N V29
1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y Y O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/V27
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
1330 Set Rotary Motor Inertia - - N Y Y N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
766 Set Safe Stopping Action - - N N N N O-Enum V31
1 = Current Decel (F/O)
2 = Ramped Decel (FV/O)
767 Set Safe Stopping Action Source - - N N N N O-Enum V31
1 = Running Controller (O)
765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/O)
759 Set Safe Torque Off Action Source - - N N N N O-Enum V31
1 = Running Controller (O)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/Y)
129 = AC Injection Brake (FPVT/Y)
612 Set Stopping Time Limit - - N N N N (F/V26/V27)
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - N N N
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ID Access Attribute N E F P V T Conditional Implementation
Rule
828 Set Torque Lead Lag Filter Gain - - - N N N
554 Set Torque Loop Bandwidth - - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - - N N N V26/V27
842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27
591 Set Torque Prove Current - - N N N N V26/V27
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
510 Set Undertorque Limit - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - N N -
466 Set Velocity Error Tolerance Time - - - N N -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
458 Get Velocity Limit Source - - - N N - V29
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold N Y Y Y N
589 Set Vertical Load Control - - N N N - V31
608 Set Zero Speed - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - Y Y Y Y V26/V27
PowerFlex 755 Low and High The following table identifies the optional attributes and corresponding control
Power, Advanced Safety mode functionality supported by a PowerFlex 755-EENET-CM-S4 and
Network Safety Drive Module PowerFlex 755-HiPwr-EENET-CM-S4 drive module.
Optional Attributes
ID Access Attribute N E F P V T Conditional Implementation
Rule
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
367 Get Acceleration Fine Command - - - N N N
485 Set Acceleration Limit - - N N N N
482 Get Acceleration Reference - - - N N N
481 Set Acceleration Trim - - - N N N
836 Set Adaptive Tuning Configuration - - - N N N V26/V27
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27
732/267 Get Analog Input 1 N - Y Y Y Y
733/268 Get Analog Input 2 N - Y Y Y Y
734 Set Analog Output 1 N - Y Y Y Y
735 Set Analog Output 2 N - Y Y Y Y
873 Set Auto Sag Configuration - - Y Y Y Y V26/V27
874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27
875 Set Auto Sag Slip Time Limit - - N N N N V26/V27
876 Set Auto Sag Start - - Y Y Y Y V26/V27
19 Set Axis Features R R R R R R 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)
10 = Drive Scaling (N) Vxx
11 = Ext. Event Block (N) Vxx
12 = Integer Cmd. Pos (N) Vxx
13 = Ext. Motor Test (N) V29
14 = Control Mode Change (N) V26/V27
15 = Feedback Mode Change (N) Vxx
16 = Pass Bus Status (N) V26/V27
17 = Pass Bus Unload (N) V26/V27
18 = Ext. Speed for SPM (N)) V29
19 = Ext. Speed for IPM (N) V29
986 Get Axis Safety Data A - - N N N N V31
987 Get Axis Safety Data B - - N N N N V31
763 Get Axis Safety Faults - Y Y Y Y Y V24
985 Get Axis Safety Faults - RA - N N N N N V31
760 Get Axis Safety State - Y Y Y Y Y V24
761 Get Axis Safety Status - Y Y Y Y Y V24
984 Get Axis Safety Status - RA - N N N N N V31
825 Set Backlash Compensation Window - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V26/V27
594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27
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ID Access Attribute N E F P V T Conditional Implementation
Rule
592 Set Brake Test Torque - - Y Y Y Y V26/V27
2338 Get Bus Output Overvoltage Factory Limit 1 N - N N N N Vxx
2358 Get Bus Output Overvoltage Factory Limit 2 N - N N N N Vxx
2339 Get Bus Output Undervoltage Factory Limit 1 N - N N N N Vxx
2359 Get Bus Output Undervoltage Factory Limit 2 N - N N N N Vxx
638/262 Get Bus Regulator Capacity - N N N N
659 Get CIP Axis Alarms Y Y Y Y Y
904 Get CIP Axis Alarms - RA Y Y Y Y Y
617 Set Coasting Time Limit - - N N N N V26/V27
850 Set Commutation Offset Compensation - - - N N N PM Motor only, V29
563 Set Commutation Polarity - - - N N N PM Motor only
562 Set Commutation Self-Sensing Current - - N N N PM Motor only O-Value = #
618 Set Connection Loss Stopping Action - - N N N N O-Enum V31
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (F/V/N)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
637 Get Converter Capacity N - N N N N
2337 Get Converter Output Capacity 1 N - N N N N Vxx
2357 Get Converter Output Capacity 2 N - N N N N Vxx
605 Get Converter Output Current N - N N N N V26/V27
2330 Get Converter Output Current 1 N - N N N N Vxx
2350 Get Converter Output Current 2 N - N N N N Vxx
606 Get Converter Output Current N - N N N N V26/V27
2331 Get Converter Output Power 1 N - N N N N Vxx
2351 Get Converter Output Power 2 N - N N N N Vxx
2332 Get Converter Output Rated Current 1 N - N N N N Vxx
2352 Get Converter Output Rated Current 2 N - N N N N Vxx
2333 Get Converter Output Rated Power 1 N - N N N N Vxx
2353 Get Converter Output Rated Power 2 N - N N N N Vxx
840 Set Current Disturbance - - - N N N
527 Get Current Error - - - N N N
529 Get Current Feedback - - - Y Y Y
522 Get Current Limit Source - - - N N N F/V29
524 Get Current Reference - - - N N N
553 Set Current Vector Limit - - Y N N N
2334 Get DC Bus Output Voltage 1 N - N N N N Vxx
2354 Get DC Bus Output Voltage 2 N - N N N N Vxx
742 Get DC Bus Output Voltage Reference N - N N N N Vxx
2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx
2356 Get DC Bus Output Voltage Reference 2 N - N N N N Vxx
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
870 Set DC Injection Brake Current - - Y Y Y Y
872 Set DC Injection Brake Time - - Y Y Y Y
486 Set Deceleration Limit - - N N N N
730 Get Digital Inputs N - Y Y Y Y
731 Set Digital Outputs N - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y
2404 Set Feedback 1 Accel Filter Taps - N - N N N
2405 Set Feedback 1 Battery Absolute - N - N N N TM
1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS
1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS
2400 Set Feedback 1 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1414 Set Feedback 1 Polarity - Y - Y Y Y
1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS
1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS
1423 Set Feedback 1 Resolver Excitation Voltage - N - N N N RS
1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS
1401 Get Feedback 1 Serial Number - N - N N N
1415 Set Feedback 1 Startup Method - R - R R R O-Enum
1= Absolute (Y)
1434 Set Feedback 1 Velocity Filter Bandwidth - Y - Y Y Y
2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y
1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N
2454 Set Feedback 2 Accel Filter Taps - N - N N N
2455 Set Feedback 2 Battery Absolute - N - N N N TM
1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS
1470 Set Feedback 2 Data Length - Y - Y Y Y TP,SS
2450 Set Feedback 2 Loss Action - N - N N N O-Enum
1 = Switch to Sensorless Fdbk (N)
2 = Switch to Redundant Fdbk (N)
1464 Set Feedback 2 Polarity - Y - Y Y Y
1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS
1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS
1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS
1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS
1451 Get Feedback 2 Serial Number - N - N N N
1465 Set Feedback 2 Startup Method - R - R R R O-Enum
1 = Absolute (Y)
1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N
2453 Set Feedback 2 Velocity Filter Taps - N - N N N
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ID Access Attribute N E F P V T Conditional Implementation
Rule
250 Set Feedback Commutation Aligned - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
4 = Database Offset (N) Vxx
31 Set* Feedback Configuration R R R R R R O-Enum
0 = No Feedback (V/Y)(T/N)
3 = Load Feedback (P/N) (V/N) (T/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
708 Set Feedback Data Loss User Limit - N N N N N
706 Set Feedback Noise User Limit - N N N N N
707 Set Feedback Signal Loss User Limit - N N N N N
44 Set Feedback Unit Ratio - - - Y N -
871 Set Flux Braking Enable - - Y Y Y Y Ind Motor only
528 Get Flux Current Error - - - N N N
530 Get Flux Current Feedback - - - Y Y Y
525 Get Flux Current Reference - - - N N N
557 Set Flux Integral Time Constant - - - N N N
556 Set Flux Loop Bandwidth - - - N N N
558 Set Flux Up Control - - Y Y Y Y Ind Motor only O-Enum
1 = Manual Delay (Y)
2 = Automatic Delay (Y)
559 Set Flux Up Time - - Y Y Y Y Ind Motor only
380 Set Flying Start Enable - - Y - Y -
381 Set Flying Start Method - - N - N - O-Enum: V29
1 = Counter EMF (N)
2 = Sweep Frequency (N)
570 Set Frequency Control Method - - R - - - O-Enum
128 = Fan/Pump Volts/Hertz (Y) 129 =
Sensorless Vector (Y)
130 = Sensorless Vector Economy (Y)
498 Set Friction Compensation Sliding - - - N N N
499 Set Friction Compensation Static - - - N N N
500 Set Friction Compensation Viscous - - - N N N
826/421 Set Friction Compensation Window - - - - - N
981/243 Get Guard Faults - - Y Y Y Y
980/242 Get Guard Status - - Y Y Y Y
280 Set Home Torque Threshold - - - N N - Vxx
281 Set Home Torque Time - - - N N - Vxx
1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only
1351 Set Induction Motor Rotor Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27
647 Set Inverter Overload Action - - Y Y Y Y O-Enum
1 = Current Foldback (Y)
128 = Reduce PWM Rate (Y)
129 = PWM Foldback (Y)
699 Set Inverter Thermal Overload User Limit - - N N N N
1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only
2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only
1336 Set Linear Motor Mass - - N N N N Linear Motor only
1337 Set Linear Motor Max Speed - - N N N N Linear Motor only
801 Get Load Observer Acceleration Estimate - - - Y Y N
806 Set Load Observer Bandwidth - - - Y Y N
805 Set Load Observer Configuration - - - Y Y N O-Enum
1= Load Observer Only (Y)
2 = Load Observer with Velocity Estimate (N)
3 = Velocity Estimate Only (N)
4 = Acceleration Feedback (Y)
809 Set Load Observer Feedback Gain - - Y Y N
807 Set Load Observer Integrator Bandwidth - - N N N
802 Get Load Observer Torque Estimate - - Y Y N
750 Set Local Control N N N N N N O-Enum
1 = Conditionally Allowed (N)
2 = Allowed (N)
614 Set Mechanical Brake Control - - Y Y Y Y
616 Set Mechanical Brake Engage Delay - - Y Y Y Y
615 Set Mechanical Brake Release Delay - - Y Y Y Y
45 Set Motion Scaling Configuration - R R R R R O-Enum
1 = Drive Scaling (N)
1310/251 Set Motor Catalog Number - - N N N N Dr NV
1313 Set Motor Data Source - - R R R R O-Enum
1 = Database (Y)
2 = Drive NV (Y)
3 = Motor NV (N)
1323 Set Motor Integral Thermal Switch - - N N N N
1324 Set Motor Max Winding Temperature - - N N N N
646 Set Motor Overload Action - - N N N N O-Enum
1 = Current Foldback (N)
1322 Set Motor Overload Limit - - Y Y Y Y
695 Set Motor Overspeed User Limit - - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26/v27
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM
1320 Set Motor Rated Peak Current - - N N N N N-IM
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ID Access Attribute N E F P V T Conditional Implementation
Rule
697 Set Motor Thermal Overload User Limit - - Y Y Y Y
1325 Set Motor Winding to Ambient Capacitance - - N N N N
1326 Set Motor Winding to Ambient Resistance - - N N N N
521 Get Operative Current Limit - - - N N N (F/V29)
600 Get Output Frequency - - R Y Y Y
508 Set Overtorque Limit - - Y Y Y Y
509 Set Overtorque Limit Time - - Y Y Y Y
1355 Set PM Motor Extended Speed Permissive - - - N N N V29
2310 Set PM Motor Flux Saturation - - N N N N SPM Motor only
1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only
2315 Set PM Motor Ld Flux Saturation - - N N N N IPM Motor only, V29
1358 Set PM Motor Linear Bus Overvoltage Speed - - - N N N V29
1359 Set PM Motor Linear Max Extended Speed - - - N N N V29
2314 Set PM Motor Lq Flux Saturation - - N N N N IPM Motor only, V29
1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only
1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only
1356 Set PM Motor Rotary Bus Overvoltage Speed - - - N N N V29
1357 Set PM Motor Rotary Max Extended Speed - - - N N N V29
1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only
445 Set Position Error Tolerance Time - - - Y - -
365 Get Position Fine Command - - - Y - -
446 Set Position Integrator Control - - - R - - O-Bits
1: Auto-Preset (N)
447 Set Position Integrator Preload - - - N - -
781 Set Position Lead Lag Filter Bandwidth - - - Y - -
782 Set Position Lead Lag Filter Gain - - - Y - -
783 Set Position Notch Filter Frequency - - - Y - -
627 Set Power Loss Action - - Y Y Y Y O-Enum
2 = Decel Regen (Y)
628 Set Power Loss Threshold N - Y Y Y Y
630 Set Power Loss Time N - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/V27
376 Set* Ramp Acceleration - - Y - Y - Derived
377 Set* Ramp Deceleration - - Y - Y - Derived
378 Set Ramp Jerk Control - - Y - Y -
375 Set* Ramp Velocity - Negative - - Y - Y - Derived
374 Set* Ramp Velocity - Positive - - Y - Y - Derived
613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only
1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only
2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only
2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only
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Chapter 3 Interpret the Attribute Tables
ID Access Attribute N E F P V T Conditional Implementation
Rule
1330 Set Rotary Motor Inertia - - N Y Y N Rotary Motor only
1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only
766 Set Safe Stopping Action - - N N N N O-Enum V31
1 = Current Decel (F/O)
2 = Ramped Decel (FV/O)
767 Set Safe Stopping Action Source - - N N N N O-Enum V31
1 = Running Controller (O)
765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27
1 = Current Decel Disable (F/N)
2 = Ramped Decel Disable (FV/N)
128 = DC Injection Brake (FPVT/N)
129 = AC Injection Brake (FPVT/O)
759 Set Safe Torque Off Action Source - - N N N N O-Enum V31
1 = Running Controller (O)
629 Set Shutdown Action N - N N N N O-Enum
1 = Drop DC Bus (FPVT/N)
370 Set Skip Speed 1 - - Y - - -
371 Set Skip Speed 2 - - Y - - -
372 Set Skip Speed 3 - - Y - - -
373 Set Skip Speed Band - - Y - - -
833 Set SLAT Configuration - - - - Y -
834 Set SLAT Set Point - - - - Y -
835 Set SLAT Time Delay - - - - Y -
610 Set Stopping Action - - R R R R O-Enum
1 = Current Decel Disable (F/N) V26/V27
2 = Ramped Decel Disable (FV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (V/N)
128 = DC Injection Brake (FPVT/Y)
129 = AC Injection Brake (FPVT/Y)
612 Set Stopping Time Limit - - N N N N (F/V26/V27)
496 Set System Inertia - - - R R N
555 Set Torque Integral Time Constant - - - N N N
827 Set Torque Lead Lag Filter Bandwidth - - - N N N
828 Set Torque Lead Lag Filter Gain - - - N N N
554 Set Torque Loop Bandwidth - - - N N N
502 Set Torque Low Pass Filter Bandwidth - - - Y Y N
843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27
837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27
838 Set Torque Notch Filter Low Frequency Limit - - - N N N V26/V27
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ID Access Attribute N E F P V T Conditional Implementation
Rule
842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27
591 Set Torque Prove Current - - N N N N V26/V27
506 Set Torque Rate Limit - - - N N N
507/334 Set Torque Threshold - - - N N N
510 Set Undertorque Limit - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - Y Y Y -
465 Set Velocity Error Tolerance - - - N N -
466 Set Velocity Error Tolerance Time - - - N N -
366 Get Velocity Fine Command - - - Y Y -
467 Set Velocity Integrator Control - - - R R - O-Bits
1: Auto-Preset (N)
468 Set Velocity Integrator Preload - - - Y Y -
474/326 Set Velocity Limit - Negative - - Y Y Y -
473/325 Set Velocity Limit - Positive - - Y Y Y -
458 Get Velocity Limit Source - - - N N - V29
471 Set Velocity Lock Tolerance - - Y Y Y -
469 Set Velocity Low Pass Filter Bandwidth - - - Y Y -
790 Set Velocity Negative Feedforward Gain - - - Y Y -
470/327 Set Velocity Threshold N Y Y Y N
589 Set Vertical Load Control - - N N N - V31
608 Set Zero Speed - - Y Y Y Y V26/V27
609 Set Zero Speed Time - - Y Y Y Y V26/V27
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.
ID Attribute K350 K5500 K6500 PF755 E F P V T C/D Conditional Implementation
480 Acceleration Command X X O O O MSG Access Only
1404 Acceleration Feedback (General Feedback X X X R R R R E, MSG Access Only
+(n-1 Signal)
)*50
1454 Acceleration Feedback 2 X R R R R E, MSG Access Only
639 Ambient Temperature O O O O MSG Access Only
688 Bus Overvoltage Factory Limit X O O O O MSG Access Only
686 Bus Regulator Overtemperature Factory O O O O MSG Access Only
Limit
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Chapter 3 Interpret the Attribute Tables
687 Bus Regulator Thermal Overload Factory X O O O O MSG Access Only
Limit
880 Bus Regulator Reference X O O O O MSG Access Only, P375
689 Bus Undervoltage Factory Limit O O O O MSG Access Only
756 CIP APR Faults C C C C Yes R-Co CScale; O-Dr DScale; E, MSG Access
Only
757 CIP APR Faults - Mfg C C C C Yes Vxx; R-Co CScale; O-Dr DScale; E, MSG
Access Only
905 CIP APR Faults - RA C C C C Yes R-Co CScale; O-Dr DScale; E, MSG Access
Only
660 CIP Axis Alarms - Mfg X X O O O O O Vxx; MSG Access Only
673 CIP Axis Exception Action - Mfg X X X R R R R R MSG Access Only
655 CIP Axis Exceptions X X X R R R R R MSG Access Only
656 CIP Axis Exceptions - Mfg X X X R R R R R Vxx; MSG Access Only
902 CIP Axis Exceptions - RA R R R R R Yes MSG Access Only
658 CIP Axis Faults - Mfg X X X R R R R R Vxx; MSG Access Only
654 CIP Axis I/O Status - Mfg X X X R R R R R Vxx; MSG Access Only
652 CIP Axis Status - Mfg X X X R R R R R Vxx; MSG Access Only
675 CIP Initialization Faults - Mfg X X X R R R R R Yes Vxx; MSG Access Only
677 CIP Start Inhibits - Mfg X X X R R R R Vxx; MSG Access Only
832 Cogging Compensation Table O O O MSG Access Only
768 Command Notch Filter Frequency X O O MSG Access Only
564 Commutation Alignment X X O O O E; PM Motor only, O- Enum, MSG Access
Only
900 Control Module Overtemperature Factory O O O O O MSG Access Only
Limit
710 Control Power-up Time O O O O MSG Access Only
693 Converter Ground Current Factory Limit O O O O MSG Access Only
684 Converter Overtemperature Factory Limit O O O O MSG Access Only
901 Converter Precharge Overload Factory O O O O MSG Access Only
Limit
723 Converter Rated Output Current X X - O O O O Yes MSG Access Only
724 Converter Rated Output Power X - O O O O Yes MSG Access Only
685 Converter Thermal Overload Factory Limit O O O O MSG Access Only
715 Cumulative Control Power Cycles O O O O MSG Access Only
712 Cumulative Energy Usage O O O O MSG Access Only
714 Cumulative Main Power Cycles O O O O MSG Access Only
713 Cumulative Motor Revs O O O O MSG Access Only
711 Cumulative Run Time O O O O MSG Access Only
621 DC Bus Voltage - Nominal X X X X R R R R MSG Access Only, P12
736 Drive Enable Input Checking X O O O O MSG Access Only
725 Drive Power Structure Axis ID O O O O MSG Access Only
1400 Feedback 1 Catalog Number O O O O E, MSG Access Only
1427 Feedback 1 LDT Recirculations R R R R E, LT, MSG Access Only
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Interpret the Attribute Tables Chapter 3
1426 Feedback 1 LDT Type R R R R E, LT, MSG Access Only
1410 Feedback 1 Resolution Unit O O O O E, MSG Access Only
643 Feedback 1 Temperature X X O O O O O E, MSG Access Only
1450 Feedback 2 Catalog Number O O O E, MSG Access Only
1477 Feedback 2 LDT Recirculations R R R R E, LT, MSG Access Only
1476 Feedback 2 LDT Type R R R R E, LT, MSG Access Only
1460 Feedback 2 Resolution Unit O O O O E, MSG Access Only
644 Feedback 2 Temperature X O O O O O E, MSG Access Only
2432 Feedback 2U Acceleration O O O O E, MSG Access Only
2430 Feedback 2U Position O O O O E, MSG Access Only
2431 Feedback 2U Velocity O O O O E, MSG Access Only
692 Feedback Data Loss Factory Limit O O O O O E, MSG Access Only
43 Feedback Master Select O Vxx, MSG Access Only
1427 Feedback n LDT Recirculations R - R R R E, LT, MSG Access Only
+(n-1
)*50
1426 Feedback n LDT Type R - R R R E, LT, MSG Access Only
+(n-1
)*50
2402 Feedback n Scaling Ratio O - O O O E, MSG Access Only
+
(n-1)*
50
1401 Feedback n Serial Number X X X O - O O O E, MSG Access Only
+
(n-1)*
50
690 Feedback Noise Factory Limit O O O O O MSG Access Only
2385 Feedback nS Acceleration O - O O O Yes E, MSG Access Only
+
(n-1)*
50
2383 Feedback nS Position O - O O O Yes E, MSG Access Only
+
(n-1)*
50
2384 Feedback nS Velocity O - O O O Yes E, MSG Access Only
+
(n-1)*
50
2382 Feedback nU Acceleration O - O O O Yes E, MSG Access Only
+
(n-1)*
50
2380 Feedback nU Position O - O O O Yes E, MSG Access Only
+
(n-1)*
50
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Chapter 3 Interpret the Attribute Tables
2381 Feedback nU Velocity O - O O O Yes E, MSG Access Only
+
(n-1)*
50
691 Feedback Signal Loss Factory Limit O O O O O E, MSG Access Only
532 Flux Decoupling O O O MSG Access Only
534 Flux Voltage Output X X O O O MSG Access Only
737 Hardware Overtravel Input Checking X O O O O MSG Access Only
829 Inertia Observer Configuration X O O O MSG Access Only
831 Inertia Observer Filter Bandwidth X O O O MSG Access Only
640 Inverter Heatsink Temperature O O O O MSG Access Only
645 Inverter Overload Factory Limit O O O O MSG Access Only
682 Inverter Overtemperature Factory Limit X O O O O MSG Access Only
698 Inverter Overtemperature User Limit O O O O MSG Access Only
721 Inverter Rated Output Current X X X X - R R R R Yes MSG Access Only, P21
722 Inverter Rated Output Power X X X X - R R R R Yes MSG Access Only, P22
720 Inverter Rated Output Voltage X X X X - R R R R Yes MSG Access Only, P20
641 Inverter Temperature X X O O O O MSG Access Only, P942
683 Inverter Thermal Overload Factory Limit O O O O MSG Access Only
679 Linear Motor Overspeed Factory Limit - O O O O Yes MSG Access Only
1312 Motor Date Code X X O O O O MSG Access Only
680 Motor Overtemperature Factory Limit O O O O MSG Access Only
696 Motor Overtemperature User Limit O O O O MSG Access Only
1311 Motor Serial Number X X - O O O O Yes MSG Access Only
642 Motor Temperature X O O O O MSG Access Only
681 Motor Thermal Overload Factory Limit X O O O O MSG Access Only
1354 PM Motor Ld Inductance X MSG Access Only
1353 PM Motor Lq Inductance X MSG Access Only
430 Position Command X X X X R MSG Access Only, P759
434 Position Feedback (Position Loop X X X X R - R R R Yes E, MSG Access Only, P847
Attributes)
780 Position Integral Feedback X X O MSG Access Only, P837
604 PWM Frequency X O O O O MSG Access Only
678 Rotary Motor Overspeed Factory Limit - O O O O Yes MSG Access Only
490 Torque Command X X X X - - R R R Yes MSG Access Only, P761
531 Torque Decoupling O O O MSG Access Only
533 Torque Voltage Output X X O O O MSG Access Only
821 Total Inertia Estimate X X X O O O MSG Access Only, P708
538 U Current Feedback X X O O O MSG Access Only
541 U Current Offsets X O O O MSG Access Only
535 U Voltage Output X X O O O MSG Access Only
539 V Current Feedback X X O O O MSG Access Only
542 V Current Offsets X O O O MSG Access Only
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Interpret the Attribute Tables Chapter 3
536 V Voltage Output X X O O O MSG Access Only
450 Velocity Command X X X X R R R MSG Access Only, P760
1403 Velocity Feedback 1 X X X X R R R R E, MSG Access Only, P131
1453 Velocity Feedback 2 X X R R R R E, MSG Access Only, P131
1403 Velocity Feedback n X X X X R - R R R Yes E, MSG Access Only, P131
+(n-1 (General Feedback Signal Attributes)
)*50
540 W Current Feedback X X O O O MSG Access Only
543 W Current Offsets X O O O MSG Access Only
537 W Voltage Output X X O O O MSG Access Only
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 257
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. Many commercial
drive products have axes that can be configured to operate in any one of these
different motion-control modes, depending on the specific application
requirements.
The CIP Axis Attributes are organized to address the broad range of functionality.
Because of the large number of attributes, they are organized by functional
category.
Motion Control Attributes
Acceleration Control Attributes on page 262 Frequency Control Configuration Attributes on page
279
Acceleration Control Configuration Attributes on page 264 Position Loop Attributes on page 281
Command Generator Configuration Attributes on page 266 Position Loop Configuration Attributes on page 284
Command Generator Signal Attributes on page 270 Torque/Force Control Configuration Attributes
on page 288
Command Reference Generation Attributes on page 266 Torque/Force Control Signal Attributes on page 298
Current Control Attributes on page 276 Velocity Loop Configuration Attributes on page 299
Current Control Configuration Attributes on page 276 Velocity Loop Signal Attributes on page 307
Frequency Control Signal Attribute on page 281
Data Attributes
Axis Info Attributes on page 312 CIP Axis Status Attributes on page 315
Axis Statistical Attributes on page 314 Event Capture Attributes on page 332
Drive Attributes
Drive General Purpose I/O Attributes on page 334 Power and Thermal Management Configuration
Attributes on page 342
Drive Output Attributes on page 341 Power and Thermal Management Status Attributes
on page 344
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Chapter 4 CIP Axis Attributes
Device Commissioning and Tuning Attributes
Autotune Configuration Attributes on page 354 Inertia Test Configuration Attributes on page 366
Hookup Test Configuration Attributes on page 363 Inertia Test Result Attributes on page 370
Hookup Test Result Attributes on page 364 Motor Test Result Attributes on page 373
Faults and Alarms Attributes
APR Fault Attribute on page 376 Exception User Limit Configuration Attributes
on page 401
Axis Exception Action Configuration Attributes on page 378 Exception, Fault, and Alarm Attributes on page 405
Configuration Fault Attributes on page 386 Initialization Faults Attributes on page 408
Exception Factory Limit Info Attributes on page 392 Module/Node Fault and Alarm Attributes on page
411
Feedback Attributes
Feedback Attributes on page 415 General Feedback Info Attributes on page 432
Feedback Configuration Attributes on page 418 General Feedback Signal Attributes on page 433
Motion Control Attributes
Motion Control Configuration Attributes on page 433 Motion Dynamic Configuration Attributes on page
475
Motion Control Interface Attributes on page 440 Motion Homing Configuration Attributes on page
479
Motion Control Signal Attributes on page 448 Motion Planner Configuration Attributes on page 490
Motion Control Status Attributes on page 459 Motion Planner Output Attributes on page 495
Motion Database Storage Attributes on page 471 Motion Scaling Attributes on page 496
Motor Attributes
General Linear Motor Attributes on page 509 Interior Permanent Magnet Motor Attributes on page
529
General Motor Attributes on page 511 Linear PM Motor Attributes on page 526
General Permanent Magnet Motor Attributes on page 519 Load Transmission and Actuator Attributes on page
532
General Rotary Motor Attributes on page 522 Rotary PM Motor Attributes on page 534
Induction Motor Attributes on page 524
Safety Attributes
Axis Safety Status Attributes on page 537 Guard Safety Status Attributes on page 552
Guard Safety Attributes on page 551
260 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
CIP Axis Attributes Chapter 4
Stopping and Braking Attributes
Start Inhibit Attributes on page 576 Stopping and Braking Attributes on page 556
DC Bus Condition Attributes
DC Bus Condition Attributes on page 579
Converter AC Line Input Attributes
Converter AC Line Monitoring Attributes on page 588 Converter AC Line Configuration Attributes on page
594
Converter AC Line Source Configuration Attributes on page 596 AC Line Condition Attributes on page 597
Converter Control Attributes
Converter Types on page 600 Converter Control Mode Attributes on page 601
Converter Bus Voltage Control Configuration Attributes Converter Bus Voltage Control Signal Attributes
on page 604 on page 607
Converter Current Reference Configuration Attributes on page Converter Current Reference Signal Attributes
610 on page 612
Converter Current Control Configuration Attributes on page Converter Current Control Signal Attributes on page
613 615
Converter Reactive Power Control Attributes on page 621 Converter Output Attributes on page 623
General attribute characteristics
Keep the following items in mind while reviewing the attribute tables:
Item Description
SSV access rule If an attribute is marked with an SSV access rule, it is implied that the attribute
also supports GSV access.
Vendor specific bits Vendor specific bits, and enumerations provide space for drive vendors to provide
additional product features.
For Logix Designer software version 18, all defined vendor specific bits are
Rockwell Automation specific.
Optional attributes Unless otherwise specified, all optional attributes default to 0.
Attribute name The tag and GSV/SSV names for each of these attributes should be the same as the
attribute name but with spaces removed.
For example, Inhibit Axis would be InhibitAxis.
See also
Standard Exceptions on page 623
Interpret the Attribute Tables on page 93
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 261
Chapter 4 CIP Axis Attributes
Control Mode Attributes The following attribute tables contain control mode related attributes associated
with a Motion Control Axis Object instance.
Acceleration Control Attributes These are the acceleration related attributes associated with a Motion Control
Axis.
Acceleration Command
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get T REAL 0 -max max Accel Control Units/Sec2
accel accel
Command acceleration output from Fine Command Generator (if active) into
acceleration loop when configured for acceleration control.
Acceleration Trim
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set T REAL 0 -max max Accel Control Units/Sec2
accel accel
Additional acceleration command added to the acceleration loop summing
junction.
Acceleration Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get T REAL - - - Accel Control Units/Sec2
Command acceleration reference into acceleration loop summing junction.
Acceleration Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get T REAL - - - Accel Control Units/Sec2
Actual acceleration of the axis based on the selected feedback device.
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CIP Axis Attributes Chapter 4
Load Observer Acceleration Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get T REAL - - - Accel Control Units/Sec2
Output of the Load Observer that, when the Load Observer block is enabled, is
applied to the acceleration reference summing junction. In the Load Observer
configuration, this signal compensates for disturbances to the load relative to an
ideal load model. When the Load Observer is configured to operate in
Acceleration Feedback Only mode, this signal is the estimated acceleration
feedback signal used to close the acceleration loop. When the Load Observer is
disabled, this signal is 0.
Load Observer Torque Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Get T REAL - - - % Motor Rated
Product of the Load Observer Acceleration Estimate signal and the current
System Inertia value, Kj. In the Load Observer configuration, this signal represents
the estimated torque disturbances to the load relative to an ideal load model.
When the Load Observer is configured to operate in Acceleration Feedback Only
mode, this signal is an estimate of the applied motor torque. When the Load
Observer is disabled, this signal is 0.
See also
Acceleration Control Configuration Attributes on page 264
Motion Control Configuration Attributes on page 433
Velocity Control Mode on page 23
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 263
Chapter 4 CIP Axis Attributes
Acceleration Control These are the acceleration control configuration attributes associated with a
Motion Control Axis.
Configuration Attributes
Load Observer Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV USINT 0 - - Enumeration
0 = Disabled (R)
1 = Load Observer Only (O)
2 = Load Observer with Velocity
Estimate (O)
3 = Velocity Estimate Only (O)
4 = Acceleration Feedback (O)
5-255 = Reserved
The Load Observer Configuration attribute configures the operation of the Load
Observer. The Load Observer dynamically measures the active load torque applied
to the motor load for the purpose of load disturbance compensation. Selecting the
Velocity Estimate configures the observer to dynamically estimate velocity based
on an internal model of the motor and load. When Velocity Estimate is selected,
this signal is applied to the velocity loop to provide superior control loop
performance. The Velocity Estimate may be used in combination with the Load
Observer by selecting Load Observer with Velocity Estimate. The Acceleration
Feedback configuration applies acceleration feedback to the control loop structure
to improve stability and performance. In effect, Acceleration Feedback is like
adding virtual inertia to the motor thus reducing the Load Ratio.
Load Observer Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV T REAL FD 0 Loop Bandwidth Units
The Load Observer Bandwidth attribute determines the proportional gain, Kop,
of the load observer. This value represents the unity gain bandwidth of the load
observer.
Load Observer Integrator Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV T REAL 0 0 Loop Bandwidth Units
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CIP Axis Attributes Chapter 4
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. This value represents the bandwidth of the integrator
beyond which the integrator is ineffective. A value of 0 for this attribute disables
the integrator.
Load Observer Feedback Gain
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV REAL 0.5 0
The Load Observer Feedback Gain attribute is a value that, when configured for
Acceleration Feedback, multiplies the Load Observer's acceleration output signal
before applying it as feedback to the acceleration reference summing junction. The
output of this gain term is the Load Observer Acceleration Estimate signal. If not
configured for Acceleration Feedback operation, this attribute has no effect.
Acceleration Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV REAL 0 Accel Units
FD
The Acceleration Limit attribute defines the maximum acceleration (increasing
speed) allowed for the acceleration reference value into the acceleration summing
junction. If this acceleration limit value is exceeded, the device responds by
clamping the acceleration reference to this limit and setting the Acceleration Limit
status bit.
Deceleration Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV REAL 0 0 Accel Units
FD
The Deceleration Limit attribute defines the maximum deceleration (decreasing
speed) allowed for the acceleration reference signal into the acceleration summing
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 on page 262
Motion Control Configuration Attributes on page 433
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 265
Chapter 4 CIP Axis Attributes
Command Reference These are the command reference generation functionality of the device that
converts command position, velocity, acceleration, and torque data output from a
Generation Attributes
controller-based or device-based motion planner into corresponding command
references signals to the device's motor control structures. The command reference
generator functionality includes fine interpolators, signal selector switches,
dynamic limiters, command notch filters.
See also
Command Generator Signal Attributes on page 270
Command Generator Configuration Attributes on page 266
Command Generator Configuration The following are the command generator configuration attributes associated
Attributes with a Motion Control Axis:
Skip Speed 1
Usage Access Data Default Min Max Semantics of Values
Type
Optional - F Set/SSV REAL 0 - Velocity Units
The Skip Speed 1 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 2
Usage Access Data Default Min Max Semantics of Values
Type
Optional - F Set/SSV REAL 0 - Velocity Units
The Skip Speed 2 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 3
Usage Access Data Default Min Max Semantics of Values
Type
Optional - F Set/SSV REAL 0 - 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.
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CIP Axis Attributes Chapter 4
Skip Speed Band
Usage Access Data Default Min Max Semantics of Values
Type
Optional - F Set/SSV REAL 0 0 Velocity Units
When operating in Closed Loop Velocity mode, the Fine Velocity Command
block also supports Skip Bands that are most frequently used in applications where
certain speeds excite mechanical resonance frequencies of the motor and load.
The Skip Speed Band attribute determines the speed window around a skip speed
that cannot be commanded. Any command set-point within this window is
adjusted by the Skip Speed block to fall at either the upper or lower Skip Speed
Band boundary value. The device can smoothly accelerate or decelerate through
the skip speed band based on the ramp generator block but may not operate at a
set speed within the band. The Skip Speed Band is distributed ½ above and ½
below the skip speed. This Skip Speed Band attribute applies to all skip speeds
supported in the device. A value of 0 for this attribute disables this feature.
Ramp Velocity - Positive
Usage Access Data Default Min Max Semantics of Values
Type
Optional - FV Get/SSV REAL 0 0 Velocity Units
Derived from Max
Speed
The Ramp Velocity - Positive attribute is a positive value that defines the
maximum positive velocity command output of the Ramp Generator.
Ramp Velocity - Negative
Usage Access Data Default Min Max Semantics of Values
Type
Optional - FV Get/SSV REAL 0 - 0 Velocity Units
Derived from Max
Speed
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 Min Max Semantics of Values
Type
Optional - FV Get/SSV REAL 0 0 Accel Units
Derived from Max
Accel
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 267
Chapter 4 CIP Axis Attributes
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 Data Default Min Max Semantics of Values
Type
Optional - FV Get/SSV REAL 0 0 Accel Units
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 Data Default Min Max Semantics of Values
Type
Optional - FV Get/SSV REAL 0 0 100 %
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:
0.5 * 0.01 * Jerk Control * Ramp Vel Negative / Ramp Decel.
Flying Start Enable
Usage Access Data Default Min Max Semantics of Values
Type
Optional - FV Set/SSV USINT 0 0 1 0 = Flying Start Disabled
1 = Flying Start Enabled
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CIP Axis Attributes Chapter 4
The Flying Start Enable attribute is used to enable or disable the Flying Start
feature of the device. When Flying Start Enable is true and the motion axis is
enabled, the device determines the current velocity of the motor, using either the
configured Flying Start Method or, if not supported, a method that is left to the
drive vendor's discretion. This operation is done as part of the Starting State
initialization activities. Just prior to transitioning to the Running state, the device
presets the output of the Ramp Generator to the current velocity. In this way, the
motor seamlessly ramps from its current velocity to the commanded velocity from
the controller. When Flying Start Enable is false, the motor velocity is irrelevant
and a preset of 0 is applied to the Ramp Generator output.
Some drive vendors do not allow the Flying Start feature to be disabled when
connected to a feedback device. To support this behavior, these drives do not
support the Flying Start Enable attribute, but do support the Flying Start Method
attribute.
Flying Start Method
Usage Access Data Type Default Min Max Semantics of Values
Optional - FV Set/SSV USINT 0 - - Enumerations:
0 = Encoder Only (R)
1 = Counter EMF (O)
2 = Sweep Frequency (O)
The Flying Start Method attribute is an enumerated value which establishes the
method used to "catch" a moving motor when the drive is enabled. The configured
Flying Start Method is applied if Flying Start Enable is true or if the Flying Start
Enable attribute is not supported.
When Encoder Only is selected, the drive uses encoder feedback to determine the
current speed of the motor to initialize the Ramp Generator output. This method
is not applicable without a connected feedback device. If Encoder Only is selected
without a connected feedback device, the Flying Start function is effectively
disabled.
When Counter EMF is selected, the drive determines the speed of the motor by
measuring the motor's Counter EMF and applying the estimated speed to the
Ramp Generator output.
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. The drive then applies this speed to the to the Ramp Generator
output.
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019 269
Chapter 4 CIP Axis Attributes
See also
Command Generator Signal Attributes on page 270
Command Generator Signal These are the command generator signal attributes associated with a Motion
Attributes Control Axis.
Position Fine Command
Usage Access T Data Type Default Min Max Semantics of Values
Optional - P Get/GSV T REAL - - - Position Units
The Position Fine Command attribute is the output value from the Command
Position fine interpolator.
Velocity Fine Command
Usage Access T Data Type Default Min Max Semantics of Values
Optional - PV Get/GSV T REAL - - - Velocity Units
The Velocity Fine Command attribute is the output value from the Command
Velocity fine interpolator. When no Command Velocity signal is present when
performing position control, this signal can be derived by scaling the Differential
Position output value of the Command Position fine interpolator.
Acceleration Fine Command
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C Get/GSV T REAL - - - Accel Units
The Acceleration Fine Command attribute is the output value from the
Command Acceleration fine interpolator. When no Command Acceleration
signal is present when performing position or velocity control, this signal can be
derived by scaling the Differential Velocity output value of the Command
Velocity fine interpolator. If no Command Velocity signal is present, the
Interpolated Command Acceleration signal can be derived by scaling the 2nd
Differential Position output value of the Command Position fine interpolator.
See also
Command Generator Configuration Attributes on page 266
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CIP Axis Attributes Chapter 4
Current Control Configuration These are the current control configuration attributes associated with a Motion
Control Axis.
Attributes
Current Vector Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - CF Set/SSV REAL 100 0 103 % Motor Rated
FD
Current Vector Limit value applied to current vector limiter to provide a
configurable limit to the magnitude of the current vector.
Torque Loop Bandwidth
Usage Access Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV REAL 0 0 Loop Bandwidth Units
FD
The Torque Loop Bandwidth attribute determines the Iq Proportional Gain value
that multiplies the Iq Current Error signal before applying it to the Iq decoupling
summing junction as part of the torque producing current loop. In cases where the
torque producing current loop is controlled by something other than the
traditional PI regulator, the Torque Loop Bandwidth is used by the drive to
provide single parametric control of the current loop bandwidth. If the Flux Loop
Bandwidth is not supported, the drive will use the Torque Loop Bandwidth for
tuning both the torque producing and flux producing current loops.
Torque Integral Time Constant
Usage Access Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV REAL 0 0 Seconds
The Torque Integral Time Constant value determines the response time of the
torque producing current loop integrator. When used for Pole-Zero cancelation,
this value is set to the electrical time constant of the motor. A value of 0 for the
Torque Integral Time Constant disables the integrator.
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Chapter 4 CIP Axis Attributes
Flux Loop Bandwidth
Usage Access Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV REAL 0 0 Loop Bandwidth Units
DB
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. In cases where the flux producing current loop is
controlled by something other than the traditional PI regulator, the Flux Loop
Bandwidth is used by the drive to provide single parametric control of the current
loop bandwidth. If the Flux Loop Bandwidth is not supported, the drive will use
the Torque Loop Bandwidth for tuning both the torque producing and flux
producing current loops.
Flux Integral Time Constant
Usage Access Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV REAL 0 0 Seconds
The Flux Integral Time Constant value determines the response time of the flux
producing current loop integrator. When used for Pole-Zero cancelation, this
value is set to the electrical time constant of the motor. A value of 0 for the Flux
Integral Time Constant disables the integrator.
Flux Up Control
Usage Access Data Default Min Max Semantics of Values
Type
Optional- D Set/SSV USINT 0 - - Enumeration
(IM) 0 = No Delay (R)
1 = Manual Delay (O)
2 = Automatic Delay (O)
3-255 = Reserved
When the motion axis is enabled, DC current is applied to an induction motor to
build stator flux before transitioning to the Running state. This attribute controls
how an induction motor is to be fluxed in the Starting state prior to transitioning
to the Running state. If No Delay is selected the axis transitions immediately to
the Running state while the motor flux is building. With Manual Delay, the axis
remains in the Starting state for the Flux Up Time to allow time for the motor to
be fully fluxed. With Automatic Delay, the drive device determines the amount of
time to delay to fully flux the motor based on motor configuration attribute data
or measurements.
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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 Min Max Semantics of Values
Type
Optional - D Set/SSV REAL 0 0 103 Seconds
(IM)
The Flux Up Time attribute sets the amount of time the drive device allows to
build full motor flux before transitioning to the Running state.
Feedback Commutation Aligned
Usage Access Data Default Min Max Semantics of Values
Type
Optional - CE Set/GSV USINT 0 - - Enumeration
(PM) DB 0 = Not Aligned (R)
1 = Controller Offset (R)
2 = Motor Offset (O)
3 = Self-Sense (O)
4 = Database Offset (O)
5-255 = Reserved
This enumerated parameter is set to Controller Offset (1) when the motor
mounted absolute feedback device is to be aligned with the stator windings of the
PM motor according to the Commutation Offset value. In some cases the
Commutation Offset can be preset to a value established by factory alignment of
the motor feedback device relative to the motor stator windings.
A setting of Not Aligned (0) indicates that the motor is not aligned, and that the
Commutation Offset value is not valid. If the Commutation Offset is not valid, it
cannot be used by the drive to determine the commutation angle. Any attempt to
enable the drive with an invalid commutation angle will result in a Start Inhibit
condition.
Alignment can be achieved using a Commutation Test that measures and sets the
Commutation Offset for the motor or by direct user entry. If this attribute is set to
Motor Offset (2) the drive derives the commutation offset directly from the
motor. If set to Self-Sense (3) the drive automatically measures the commutation
offset when it transitions to the Starting state for the first time after a power cycle.
This generally applies to a PM motor equipped with a simple incremental
feedback device.
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Commutation Offset
Usage Access Data Default Min Max Semantics of Values
Type
Required - CE SSV#/ REAL 0 0 Electrical Degrees
(PM) GSV DB
# 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. This attribute
specifies the offset from a commutation reference position defined by applying
DC current into the A terminal and out of the shorted B and C terminals of the
motor and letting the rotor to move to its magnetic null position relative to the
stator. On an absolute encoder or resolver, the offset is the difference from the
device's zero absolute position and the commutation reference position. On an
incremental encoder or Hall sensor with UVW signals, the offset is the difference
between the position corresponding to a transition of the commutation device's
W (S3) channel (with the U (S1) channel high and the V (S2) channel low) and
the commutation reference position. The commutation offset is only applicable to
the motor mounted Feedback 1 device.
When the optional Commutation Alignment attribute is supported and set to
Controller Offset, the drive will apply the Commutation Offset value from the
controller to determine the electrical angle of the motor. In this case, a valid
Commutation Offset value must be entered by the user, read from the Motor
Database, or determined by the Commutation Test. In the unusual case where the
commutation offset is also stored in the motor, and differs significantly from
Commutation Offset value from the controller, the drive will transition to the
Start Inhibited state
If the Commutation Alignment attribute is not set to Controller Offset or
Database Offset, the Commutation Offset value from the controller is ignored by
the drive and the drive must determine its internal commutation offset value by
other means. Without a valid commutation offset, the drive will be Start
Inhibited.
Commutation Self-Sensing Current
Usage Access Data Default Min Max Semantics of Values
Type
Optional - CE Set/GSV REAL 100 0 200 % Motor Rated
(PM)
When a PM motor feedback drive device is an incremental encoder without
UVW tracks for commutation, a Self-Sensing algorithm is run during the Starting
state that determines the Commutation Offset to apply to the position feedback.
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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 Min Max Semantics of Values
Type
Optional - CE Set/ USINT 0 - - Enumeration
(PM) SSV* 0 = Normal
1 = Inverted
2-255 = Reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
When a PM motor is using UVW signals for commutation start up, it is critical
that the UVW phases of the commutation device follow the phasing of the motor.
Normal polarity implies UVW phasing according to factory specification when
the commutation device is moving in the factory defined positive direction.
Inverted polarity effectively switches the UVW phasing to UWV thus reversing
the directional sense of the commutation device. If it is determined through a
Commutation Test that the phasing of the motor and the phasing of the
commutation device have opposite polarity, this attribute can be used to
compensate for the mismatch.
Commutation Offset Compensation
Usage Access Data Default Min Max Semantics of Values
Type
Optional - CE SSV#/ REAL 0 0 Electrical Degrees
(IPM Only) GSV
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This value specifies the change in the Commutation Offset value in units of
electrical degrees as a linear function of current. When the Iq current is +100% of
rated continuous current, the Commutation Offset value is decreased by the value
of this attribute. When the Iq current is -100% the Commutation Offset is
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.
Commutation Alignment
The Default Commutation Alignment value used for the Feedback Commutation
Aligned and Commutation Alignment attributes depends on the associated
Feedback Type and whether or not the motor commutation device is Factory
Aligned. When the Motor Data Source is from Datasheet, it is assumed that the
motor is not Factory Aligned. When the Motor Data Source is from Database,
motor data in the database indicates if the motor is Factory Aligned.
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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 Not Aligned | Database Offset | Controller Offset | Self-Sense
Digital Parallel Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset
Sine/Cosine - Self-Sense* Not Aligned | Self-Sense
Sine/Cosine with UVW Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset | Self-Sense
Hiperface Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset | Motor Offset | Self-Sense
EnDat Sine/Cosine Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset | Motor Offset | Self-Sense
EnDat Digital Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset | Motor Offset
Resolver Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset
SSI Digital Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset
Hiperface DSL Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset | Motor Offset
BiSS Digital Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset
SSI Sine/Cosine Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset | Self-Sense
SSI AqB Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset | Self-Sense
BiSS Sine/Cosine Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset | Self-Sense
Tamagawa Serial Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset | Motor Offset
Stahl SSI Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset
* If optional Commutation Alignment enumerations Self-Sense and Motor Offset are not supported by the drive, the create time default Commutation Alignment of Not Aligned is
retained.
See also
CIP Axis Attributes on page 259
Current Control Signal These are the current control signal related attributes associated with a Motion
Control Axis.
Attributes
Current Command
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV T REAL - - - % Motor Rated
The Current Command attribute represents the instantaneous value of the
commanded torque producing current signal, Iq, prior to passing through the
vector current limiter. It is tied directly to the output of torque reference path
after the 1/Kt scaling that represents the torque effort to be applied to the drive's
torque producing Iq current loop. The nominal value for 1/Kt is 1 based on 100%
rated torque being produced by 100% rated current.
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Operative Current Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D Get/GSV T REAL - - - % Motor Rated
The Operative Current Limit attribute represents the operative current limit
based on multiple limit sources.
Current Limit Source
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Get/GSV T DINT - - - Enumeration
0 = Not Limited
1 = Inverter Peak Current
Limit
2 = Motor Peak Current
Limit
3 = Inverter Thermal
Current Limit
4 = Motor Thermal
Current Limit
5 = Shunt Regulator Limit
6 = Current Vector Limit
7 = Brake Test Limit
8-127 = Reserved
128-255 = Vendor Specific
The Current Limit Source attribute represents the operative source of a current
limit when a current limit condition occurs.
Motor Electrical Angle
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV T REAL - - - Degrees
PM Motor
The Motor Electrical Angle attribute is the calculated electrical angle of the motor
based on motor pole count, commutation offset, and selected feedback device.
Current Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - % Motor Rated
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The Current Reference attribute is the current reference signal, Iq, into the torque
current loop summing junction.
Flux Current Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - % Motor Rated
The Flux Current Reference attribute is the current reference signal, Id, into the
flux producing current loop summing junction.
Current Disturbance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV T REAL - - - % Motor Rated
Injected torque producing current command used to excite motor as part of
Frequency Analysis service.
Current Error
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - % Motor Rated
Error between commanded and actual current that is the output of the torque
producing, q-axis, current loop summing junction.
Flux Current Error
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - % Motor Rated
Error between commanded and actual current that is the output of the flux
producing, d-axis, current loop summing junction.
Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - % Motor Rated
Actual torque current applied to the axis based on current sensor feedback.
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Flux Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - % Motor Rated
Actual flux current applied to the axis based on current sensor feedback.
See also
Current Control Configuration Attributes on page 271
CIP Axis Attributes on page 259
Frequency Control These are the Frequency Control Configuration attributes associated with the
Frequency Control method of operation of a Motion Control Axis.
Configuration Attributes
Frequency Control Method
Usage Access Data Default Min Max Semantics of Values
Type
Required - F Set/GSV USINT 0 - - Enumeration
0 = Basic Volts/Hertz (R)
1-127 = Reserved
128 = Fan/Pump Volts/Hertz (O)
129 = Sensorless Vector (O)
130 = Sensorless Vector Economy
(O)
128-255 = Vendor Specific
The Frequency Control Method attribute identifies the control method
associated with the axis.
The Basic Volts/Hertz control method applies voltage to the motor generally in
direct proportion to the commanded frequency or speed.
Sensorless Vector enhances the Basic Volts/Hertz algorithm by utilizing current
vectors Iq and Id for superior control at low speeds.
Fan/Pump Volts/Hertz is based on the Basic Volts/Hertz but is specifically
tailored for fan/pump applications.
Sensorless Vector Economy applies the Sensorless vector algorithm but seeks to
reduce energy consumption when the applied load is less than 50% of rating.
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Maximum Voltage
Usage Access Data Default Min Max Semantics of Values
Type
Required - F Set/SSV REAL 460 0 Volts (RMS)
FD
The Maximum Voltage attribute sets the highest phase-to-phase voltage the drive
device can output.
Maximum Frequency
Usage Access Data Default Min Max Semantics of Values
Type
Required - F Set/SSV REAL 130 0 Hertz
FD
The Maximum Frequency attribute sets the highest frequency the drive device can
output.
Break Voltage
Usage Access Data Default Min Max Semantics of Values
Type
Required - F Set/SSV REAL 230 0 Volts (RMS)
FD
The Break Voltage attribute sets the phase-to-phase output voltage of the drive
device at the Break Frequency where boost ends.
Only applicable in Basic V/Hz mode.
Break Frequency
Usage Access Data Default Min Max Semantics of Values
Type
Required - F Set/SSV REAL 30 0 Hertz
FD
The Break Frequency attribute sets the output frequency of the drive device at the
Break Voltage where boost ends.
Only applicable in Basic V/Hz mode.
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Start Boost
Usage Access Data Default Min Max Semantics of Values
Type
Required - F Set/SSV REAL 8.5 0 Volts (RMS)
FD
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 Data Default Min Max Semantics of Values
Type
Required - F Set/SSV REAL 8.5 0 Volts (RMS)
FD
The Run Boost attribute sets the phase-to-phase voltage boost level for
steady-state speed or deceleration.
Only applicable in Basic V/Hz mode and Fan/Pump V/Hz modes.
See also
CIP Axis Attributes on page 259
Frequency Control Signal This attribute is the signal attribute associated with the Frequency Control
method of operation of a Motion Control Axis.
Attribute
Slip Compensation
Usage Access T Data Default Min Max Semantics of Values
Type
Required - F Get/GSV T REAL - - - RPM
Indicates the actual amount of slip compensation currently being applied.
See also
Frequency Control Configuration Attributes on page 279
CIP Axis Attributes on page 259
Position Loop Signal Attributes These are the position loop signal related attributes associated with a Motion
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Control Axis.
Position Command
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Get T DINT 0 -maxpos maxpos Position Control Units
The Position Command attribute is the command position output from the Find
Command Generator (if active) into the position loop when configured for
position loop control.
Position Trim
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set T DINT 0 -maxpos maxpos Position Control 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.
Position Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Get T DINT - - - Position Control Units
The Position Reference attribute is the command position reference signal into
the position loop summing junction to be compared with a position feedback
signal.
Velocity Feedforward Command
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Get/GSV T REAL - - - Velocity Control Units/Sec
The Velocity Feedforward Command attribute is a command signal that
represents a scaled version of the command velocity profile. This signal is the
Velocity Fine Command signal scaled by Velocity Feedforward Gain and applied
to the output of the position loop.
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Position Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Required - E Get T DINT 0 -maxpos maxpos Position Control Units
The Position Feedback attribute is a 32-bit position feedback value that when
configured for Position Control mode, is applied to the position proportional
control summing junction. In most cases the Position Feedback signal is derived
directly from the feedback device specified by the Feedback Mode selection. If,
however, axis Feedback Mode is configured for Master Feedback Position
Feedback represents the actual position of the feedback device specified by the
Feedback Master Select. If Feedback Master Select is not supported, the Feedback
1 channel is used.
Position Feedback - 64 Bit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E Get T LINT - - - Position Control Units
This 64-bit position feedback value, when supported, extends the range of the
32-bit Position Feedback attribute. When configured for Position Control mode,
the lower 32-bits of this attribute becomes the Position Feedback signal that is
applied to the position proportional control summing junction. In most cases the
Position Feedback – 64 Bit signal is derived directly from the feedback device
specified by the Feedback Mode selection. If axis Feedback Mode is configured
for Master Feedback Position Feedback – 64 Bit represents the actual position of
the feedback device specified by the Feedback Master Select. If Feedback Master
Select is not supported, the Feedback 1 channel is used.
Position Integral Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Required - P Get T DINT - - - Position Control Units
The Position Integral Feedback attribute is position feedback value channeled into
the position integral control summing junction.
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Position Error
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Get/GSV T REAL - - - Position Units
The Position Error attribute is the error between commanded and actual position
that is the output of the position loop summing junction.
Position Integrator Output
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Get/GSV T 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 T Data Default Min Max Semantics of Values
Type
Required - P Get/GSV T REAL - - - Velocity Units
The Position Loop Output attribute is the output of the position loop forward
path representing the total control effort of the position loop.
See also
Position Control Mode on page 21
Position Loop Configuration Attributes on page 284
CIP Axis Attributes on page 259
Position Loop Configuration These are the position loop configuration attributes associated with a Motion
Control Axis.
Attributes
Velocity Feedforward Gain
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set REAL 0 0 %
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The Velocity Feedforward Gain attribute multiplies the Velocity Feedforward
Command signal to form the Velocity Feedforward Command that is applied to
the velocity loop summing junction.
Position Loop Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV T REAL 100 0 Loop Bandwidth Units
FD
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.
Position Integrator Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV T REAL 0 0 Loop Bandwidth Units
FD
The Position Integrator Bandwidth attribute determines the position loop
integral gain, Kpi, which together with the Kpp, multiplies the integrated Position
Error signal. This value represents the bandwidth of the position integrator
beyond which the integrator is ineffective. A value of 0 for this attribute disables
the integrator.
Position Lock Tolerance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV REAL 0.01 0 Position Units
FD
The Position Lock Tolerance attribute establishes a window around the current
command position. When the actual position is within this window the Position
Lock status bit is set. When actual position falls outside this window, the Position
Lock status bit is cleared.
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Position Error Tolerance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV REAL 0 0 Position Control Units
FD
The Position Error Tolerance attribute determines the absolute maximum
Position Error value that can be tolerated without causing an Excessive Position
Error exception.
Position Error Tolerance Time
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - P Set/SSV REAL 0 0 103 Sec
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 T Data Default Min Max Semantics of Values
Type
Optional - P Set/SSV REAL 0 0 104 Filter Frequency Units
The Position Lead Lag Filter Bandwidth attribute sets the pole frequency for the
position regulator Lead-Lag Filter. A value of 0 disables the filter.
Position Lead Lag Filter Gain
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - P Set/SSV REAL 0 0
The Position Lead Lag Filter Gain attribute sets the high frequency gain of the
position regulator Lead-Lag Filter. A value greater than 1 results in a lead function
and value less than 1 results in a lag function. A value of 1 disables the filter.
Position Notch Filter Frequency
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - P Set/SSV REAL 0 0 104 Filter Frequency Units
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The Position Notch Filter Frequency attribute controls the center frequency of
the notch filter that is applied to the velocity reference signal of the velocity loop
summing junction. A value of 0 for this attribute disables this feature.
Position Integrator Control
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV BYTE 0 - - Bitmap
0:0 0 = Integrator Hold Enable (R)
1:0 1 = Auto-Preset (O)
2-7 = Reserved
The Position Integrator Control attribute controls the behavior of the position
loop integrator while commanding motion through the controller. When the
integrator hold enable bit is set, the integrator is held while motion is being
commanded with a non-zero velocity. When clear, the integrator runs without
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.
Position Integrator Preload
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - P Set/SSV REAL 0 0 Velocity Units
The Position Integrator Preload attribute is a value assigned to the position
integrator when the position control loop is enabled.
Position Limit - Positive
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - E Set REAL - - - Position Control Units
(Drive Scaling)
The Position Limit - Positive attribute is a value that defines the most positive
position value. Exceeding the value while commanding motion in the positive
direction generate a Position Overtravel Positive exception.
Position Limit - Negative
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - E Set REAL - - - Position Control Units
(Drive Scaling)
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This value defines the most negative position feedback value that when exceeded
while commanding motion in the negative direction, generates a Position
Overtravel Negative exception.
See also
Position Loop Signal Attributes on page 281
Position Control Mode on page 21
CIP Axis Attributes on page 259
Torque/Force Control These are the torque/force control configuration attributes associated with a
Motion Control Axis.
Configuration Attributes
Torque Offset
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 0 -100 +100 % Motor Rated
The Torque Offset attribute provides a torque bias when performing closed loop
control. This value is summed together with the Torque Trim value that can be
sent synchronously to the drive every connection update. Since the Torque Trim
value is available as a templated value, real time torque corrections can be done
using the Torque Trim attribute.
System Inertia
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV T REAL 0 0 % Motor Rated / (Motor
Optional - T FD Units/Sec2)
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 T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV REAL 0 0 Position Units
The Backlash Reversal Offset attribute value is used to compensate for positional
inaccuracy introduced by mechanical backlash. Backlash manifests itself when an
axis is commanded to reverse direction. During such a reversal there is a small
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amount of displacement of the motor that does not translate to displacement of
the load due to mechanical play in the machine, for example, through the gearing
or ball-screw. As a result, there is an error in the control system's indication of the
actual position for the axis versus the true position of the mechanical load, that
error being equal to the lost displacement due to the mechanical backlash.
Compensation for this positioning error due to mechanical backlash can be
achieved by adding a directional offset, specified by the Backlash Reversal Offset
attribute, to the motion planner's command position before sending to the drive.
Whenever the commanded velocity changes sign (a reversal), the Logix controller
will add, or subtract, the offset value from the current commanded position. This
causes the servo to immediately move the motor to the other side of the backlash
window and engage the load. It is important to note that the application of this
directional offset is completely transparent to the user; the offset does not have
any impact on the value of the Command Position attribute. If a value of zero is
applied to the Backlash Reversal Offset, the feature is effectively disabled. Once
enabled by a non-zero value, and the load is engaged by a reversal of the
commanded motion, changing the Backlash Reversal Offset can cause the axis to
shift as the offset correction is applied to the command position.
Acceleration to Torque/Force Scaling Gain
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set REAL - - - % Motor Rated/ (Motor
Optional - T Units/sec2)
The Acceleration to Torque/Force Scaling gain attribute converts commanded
acceleration into equivalent rated torque/force. This value represents the total
system inertia or mass.
Backlash Compensation Window
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - P Set REAL 0 0 Position Control Units
Defines a window around the command position. When the actual position is
within this window, the effective System Inertia gain is reduced by a factor of the
ratio of the Position Error and the Backlash Compensation Window. When the
actual position is outside the window, the configured System Inertia gain is
applied.
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Friction Compensation Sliding
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 100 % Motor Rated
Value added to the current/torque command to offset the effects of coulomb
friction.
Friction Compensation Static
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 100 % Motor Rated
Value added to the current/torque command to offset the effects of static friction
(sometimes referred to "sticktion").
Friction Compensation Viscous
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 100 % Motor Rated / (Motor
Units/Sec)
Value added to the current/torque command to offset the effects of viscous
friction, for example, friction that is proportional to speed.
Friction Compensation Window
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - P Set REAL 0 0 Position Units
Defines a window around the command position. When the actual position is
within this window, the effective Friction Compensation value is reduced by a
factor of the ratio of the Position Error and the Friction Compensation Window.
When the actual position is outside the window, or when the axis is being
commanded to move, the normal friction compensation algorithm applies.
Torque Lead Lag Filter Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 104 Filter Frequency Units
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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 T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 1 0
Sets the high frequency gain of the torque reference Lead-Lag Filter. A value
greater than 1 results in a lead function and value less than 1 results in a lag
function. A value of 0 results in a first order low pass filter function. A value of 1
disables the filter.
Torque Low Pass Filter Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set T REAL 0 0 104 Filter Frequency Units
FD
Break frequency for the low pass filter applied to torque reference signal.
Torque Notch Filter Frequency
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 104 Filter Frequency Units
Center frequency of the notch filter instance applied to the torque reference
signal. Up to four torque notch filter instances connect in series. A value of 0 for
this attribute disables this filter.
Torque Limit - Positive
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set REAL 100 0 103 % Motor Rated
FD
This positive value determines the maximum positive torque that can be applied
to the motor. If the device attempts to exceed this value, the torque command is
clamped to this value.
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Torque Limit - Negative
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set REAL -100 -103 0 % Motor Rated
FD
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.
Torque Rate Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 106 0 % Motor Rated / Sec
Limits the rate of change of the torque reference signal.
Torque Threshold
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 90 0 103 % Motor Rated
FD
Specifies the threshold for the Filtered Torque Reference signal magnitude that
when exceeded, results in the Torque Threshold status bit being set.
Overtorque Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 200 0 103 % Motor Rated
Maximum limit for the torque producing Iq Current Feedback signal magnitude.
When the Iq Current Feedback signal is greater than this value for the duration
specified by Overtorque Limit Time attribute, the result is an Overtorque Limit
exception. This feature lets the device generate an exception if there is a sudden
increase in load torque during operation. This condition could occur if a bearing
fails, a hard stop is reached, or there is some other mechanical failure.
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Overtorque Limit Time
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 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 Overtorque feature.
Undertorque Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 10 0 103 % Motor Rated
Minimum limit for the torque producing Iq Current Feedback signal magnitude.
When the Iq Current Feedback is less than this value for the duration specified by
Undertorque Limit Time attribute, the result is an Undertorque Limit exception.
This feature lets the device generate an exception if there is a sudden decrease in
load torque during operation. This condition could occur, for example, if a load
coupling breaks or a tensioned web material breaks.
Undertorque Limit Time
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Seconds
Specifies the amount of time allowed in an Undertorque Limit condition before
generating an Undertorque Limit exception. A value of 0 for this attribute disables
the Undertorque feature.
Inertia Observer Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set BYTE 0 0 103 Enumeration:
0 = Disabled (R)
1 = Inertia Observer (O)
2-225 = (reserved
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Inertia Observer Filter Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 103 Radians/second
The Inertia Observer Filter Bandwidth attribute sets the frequency for the inertia
low pass filter applied to the Total Inertia Estimate.
Cogging Compensation Table
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 103 % Motor Rated
[1024]
The Cogging Compensation Table attribute is an array of values that represent
the cogging torque profile of the motor over one electrical cycle. The 0th element
of the array corresponds to an electrical angle of 0 degrees. An motor with no
cogging should have a value of 100% for all elements in the array. A value above
100% provides additional 1/Kt gain to the torque reference. A value below 100%
reduces the 1/Kt gain.
Adaptive Tuning Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set/SSV USINT 0 - - Enumeration:
0 = Disabled
1 = Tracking Notch
2 = Gain Stabilization
3 = Tracking Notch and Gain
Stabilization
4-255 = Reserved
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.
When configured for Tracking Notch, the Torque Notch Filter Frequency
Estimate attribute value, determined by the Adaptive Tuning function, is applied
to the Torque Notch Filter as part of the control loop update. The configured
Torque Notch Filter Frequency attribute is not overwritten as a result of this
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operation. All other servo loop attributes are applied directly without intervention
of the Adaptive Tuning function.
When configured for Gain Stabilization, the Load Observer Bandwidth, Load
Observer Integrator Bandwidth, Velocity Loop Bandwidth, Velocity Loop
Integrator Bandwidth, Position Loop Bandwidth, and Position Loop Integrator
Bandwidth attribute values are scaled by the Adaptive Tune Gain Scaling Factor as
part of the control loop update. The configured values of these attributes are not
overwritten as a result of this operation. The Torque Low Pass Filter Bandwidth
Estimate is also applied to the Torque Low Pass Filter Bandwidth. In this
configuration, the value of the Torque Notch Filter Frequency attribute is applied
directly to the notch filter without intervention of the Adaptive Tuning function
When configured for Notch Filter and Gain Stabilization, the Torque Notch
Filter Frequency Estimate attribute value, determined by the Adaptive Tuning
function, is applied to the Torque Notch Filter as part of the control loop update.
The configured Torque Notch Filter Frequency attribute is not overwritten as a
result of this operation. The Load Observer Bandwidth, Load Observer Integrator
Bandwidth, Velocity Loop Bandwidth, Velocity Loop Integrator Bandwidth,
Position Loop Bandwidth, and Position Loop Integrator Bandwidth attributes are
scaled by the Adaptive Tune Gain Scaling Factor as part of the control loop
update. The configured values of these attributes are not overwritten as a result of
this operation. The Torque Low Pass Filter Bandwidth Estimate is also applied to
the Torque Low Pass Filter Bandwidth.
Even if Disabled, the Adaptive Tuning function runs periodically to collect drive
data while the axis is in the Running state. When a resonance frequency is detected
that meets the configured Notch Tuning criteria, the frequency of the resonance is
loaded to the Torque Notch Filter Frequency Estimate attribute. The magnitude
of the resonance is also loaded to the Torque Notch Filter Magnitude Estimate.
The Adaptive Tuning status bits in the CIP Axis Status RA attribute are updated
each time the Adaptive Tuning function is executed.
The configured Notch Tuning criteria are that the magnitude of the resonance
frequency, not associated with the command, be above the configured Torque
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.
A state machine, as defined in the functional requirements specification,
determines the Adaptive Tune Gain Scaling Factor and the Torque Low Pass
Filter Bandwidth Estimate. The current state also determines which drive
parameters are updated. The transition logic for the state machine is dependent on
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the Adaptive Tuning status bits of the CIP Axis Status RA attribute and the
Adaptive Tuning Configuration.
When the drive axis is in any other state besides the Running state, the Adaptive
Tuning function is turned off and does not collect data.
When the drive transitions out of the Running state, the present values of all the
Adaptive Tuning status bits and output estimates will persist. When the drive
transitions into the Running state, the values of all the Adaptive Tuning status bits
are set to 0 and output estimates will persist until they are updated by the
Adaptive Tuning feature.
When the Adaptive Tuning Configuration is set to Disabled or Tracking Notch,
the Adaptive Tune Gain Scaling Factor is reset to one. In this case the configured
Torque Notch Filter Frequency, Torque Low Pass Filter Bandwidth, Load
Observer Bandwidth, Load Observer Integrator Bandwidth, Velocity Loop
Bandwidth, Velocity Loop Integrator Bandwidth, Position Loop Bandwidth, and
Position Loop Integrator Bandwidth attribute values are not impacted by the
Adaptive Tuning function.
Torque Notch Filter High Frequency Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL FD 20 2*FD Radians/sec
This value sets the upper limit on the Torque Notch Filter Frequency Estimate
value for the Adaptive Tuning function. The frequency of an identified natural
resonance must be lower than this limit to be applied to the Torque Notch Filter
Frequency Estimate.
Torque Notch Filter Low Frequency Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set REAL FD 20 2000 Radians/sec
This value sets the lower limit on the Torque Notch Filter Frequency Estimate
value for the Adaptive Tuning function. The frequency of an identified natural
resonance must be higher than this limit to be applied to the Torque Notch Filter
Frequency Estimate.
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Torque Notch Filter Tuning Threshold
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Set T REAL 5 0 100 % Motor Rated
To be identified as a resonance frequency by the Adaptive Tuning function, the
resonance magnitude must exceed the Torque Notch Filter Tuning Threshold.
The magnitude of an identified natural resonance frequency must be higher than
this threshold value to be applied to the Torque Notch Filter Frequency Estimate.
Torque Notch Filter Frequency Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get T REAL - - - Radians/sec
This value represents the resonance frequency with the highest magnitude above
the Torque Notch Filter Tuning Threshold and between the Torque Notch Filter
Low Frequency Limit and the Torque Notch Filter High Frequency Limit as
identified by the Adaptive Tuning function.
The Torque Notch Filter Frequency Estimate value is initialized to zero when the
drive is power cycled or reset.
Torque Notch Filter Magnitude Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get T REAL - - - % Motor Rated
This value represents the maximum magnitude for resonant peaks found above the
Torque Notch Filter Tuning Threshold and between the Torque Notch Filter
Low Frequency Limit and the Torque Notch Filter High Frequency Limit as
identified by the Adaptive Tuning function.
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 T Data Default Min Max Semantics of Values
Type
Optional - C Ge T REAL - - - Radians/sec
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This value represents the Bandwidth of the Torque Low Pass Filter when the
Adaptive Tuning Configuration is equal to Gain Stabilization or Tracking Notch
and Gain Stabilization. The value is modified by the Adaptive Tuning function.
The value is initialized to the Torque Low Pass Filter Bandwidth when the
Adaptive Tuning Configuration transitions from Disabled or Tracking Notch to
Gain Stabilization or Tracking Notch and Gain Stabilization. The Torque Low
Pass Filter Bandwidth Estimate value is initialized to zero when the drive is power
cycled or reset.
Adaptive Tuning Gain Scaling Factor
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get/GSV T REAL - - - Applied Gain/Configured Gain
This value proportionally scales the servo loop gain attributes of the associated
axis. The value is modified by the Adaptive Tuning function. The value is reset to
1 any time the Adaptive Tuning Configuration is Disabled or set to Tracking
Notch. The value is initialized to 1 when the drive is power cycled or reset.
See also
Torque Force Control Signal Attributes on page 298
Velocity Control Mode on page 23
Torque/Force Control Signal These are the torque/force signal related attributes associated with a Motion
Control Axis.
Attributes
Torque Command
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV T REAL - - % Motor Rated
Command torque output from fine interpolator (if active) into torque input
summing junction when configured for toque control.
Torque Trim
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV T REAL 0 - % Motor Rated
Additional torque command added to the torque input summing junction.
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Torque Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV T 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 T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV T REAL - - - % Motor Rated
Commanded torque reference input signal after torque filter section.
Torque Reference Limited
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV T REAL - - - % Motor Rated
Commanded torque reference input signal after torque limiter section.
Total Inertia Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - C Get T REAL - - - % Motor Rated/ (Motor
Units/Sec2)
The Total Inertia Estimate attribute is the estimated total inertia or mass of the
axis based on output of Inertia Observer. This value is directly applied to Kj to
adapt to changing load inertia or mass.
See also
Torque Control Mode on page 26
Torque/Force Control Configuration Attributes on page 288
Velocity Loop Configuration These are the velocity loop configuration attributes associated with a Motion
Control Axis.
Attributes
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Velocity Offset
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV REAL 0 -maxspd maxspd Velocity Units
The Velocity Offset attribute can be used to provide a velocity bias when
performing velocity control. This value is summed together with the Velocity
Trim value that can be sent synchronously to the drive every Coarse Update
Period. Since the Velocity Trim value is available as a templated value, real time
velocity corrections can be done using the Velocity Trim attribute.
Acceleration Feedforward Gain
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV REAL 0 0 %
The Acceleration Feedforward Gain attribute is a value that multiplies the
Acceleration Fine Command signal to form the Acceleration Feedforward
Command that is applied to the acceleration loop summing junction. 100%
Acceleration Feedforward applies the full Acceleration Fine Command signal to
the output of the velocity loop.
Velocity Loop Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV T REAL 260 0 Loop Bandwidth Units
FD
The Velocity Loop Bandwidth attribute is a value that determines the
proportional gain, Kvp, of the velocity loop that multiplies the Velocity Error
signal. This value represents the unity gain bandwidth of the velocity loop.
Velocity Integrator Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV T REAL 0 0 Loop Bandwidth Units
FD
The Velocity Integrator Bandwidth attribute determines the velocity loop integral
gain, Kvi, which together with the Kvp, multiplies the integrated Velocity Error
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signal. This value represents the bandwidth of the velocity integrator beyond
which the integrator is ineffective. A value of 0 for this attribute disables the
integrator.
Velocity Negative Feedforward Gain
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Set/SSV REAL 0 0 %
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 T Data Default Min Max Semantics of Values
Type
Optional - FPV Set/SSV REAL 0 0 Velocity Units / Sec / %
Rated
Velocity Droop value that provides compliance to the velocity integrator by
subtracting a portion of the velocity loop effort from the velocity error input to
the velocity integrator. The presence of the Torque/Force scaling gain, Kj, in the
droop signal path lets Velocity Droop to be specified in velocity units per % rated
torque output. This parameter is also valid for V/Hz devices and its behavior is
nearly identical, but instead of % rated being related to torque, % rated is related to
current.
Velocity Error Tolerance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Set/SSV REAL 0 0 Velocity Units
FD
The Velocity Error Tolerance attribute determines the absolute maximum
Velocity Error value that can be tolerated without causing a Excessive Velocity
Error exception.
Velocity Error Tolerance Time
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Set/SSV REAL 0.01 0 Seconds
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The Velocity Error Tolerance Time attribute determines the maximum amount of
time that the Velocity Error Tolerance can be exceeded without generating an
exception.
Velocity Integrator Control
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV BYTE 0 - - Bitmap
0:0 0 = Integrator Hold Enable
1:0 (R)
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. When the
integrator hold enable bit is set, the integrator is held while motion is being
commanded with a non-zero velocity. When clear, the integrator runs without
qualification. When the auto-preset bit is set, the integrator preload value is
automatically loaded with the current torque command when there is a control
mode change between torque control and velocity control. If clear, the integrator
is loaded with the configured velocity integrator preload value.
Velocity Integrator Preload
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Set/SSV REAL 0 0 Accel Units
The Velocity Integrator Preload attribute is a value assigned to the velocity
integrator when the velocity control loop is enabled.
Velocity Low Pass Filter Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Set/SSV T REAL 0 0 104 Filter Frequency Units
The Velocity Low Pass Filter Bandwidth attribute controls the bandwidth of the
Low Pass Filter applied to the Velocity Error signal. Recommended
implementation is a two pole IIR filter. A value of 0 for this attribute disables this
feature.
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Velocity Threshold
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - ED Set/SSV REAL 0 0 Velocity Units
FD
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.
Velocity Lock Tolerance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - PV Set/SSV REAL 1 0 Velocity Units
FD
The Velocity Lock Tolerance attribute establishes a window around the unlimited
velocity reference signal. When the Velocity Feedback signal is within this window
the Velocity Lock status bit is set. When Velocity Feedback signals falls outside
this window, the Velocity Lock status bit is cleared.
Velocity Standstill Window
Usage Access T Data Default Min Max Semantics of Values
Type
Required - ED Set/SSV REAL 1 0 Velocity Units
FD
The Velocity Standstill Window attribute establishes a window around zero
speed. When the Velocity Feedback signal is within this window the Velocity
Standstill status bit is set. When Velocity Feedback signal falls outside this
window, the Velocity Standstill status bit is cleared. If the axis is configured for
Frequency Control, the Velocity Feedback signal is derived from the Velocity
Reference signal.
Velocity Limit - Positive
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - FPV Set/SSV REAL 0 0 Velocity Units
FD
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The Velocity Limit - Positive attribute defines the most positive velocity reference
value 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.
Velocity Limit - Negative
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - FPV Set/SSV REAL 0 - 0 Velocity Units
FD
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.
Slat Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - V Set/SSV BYTE 0 - - 0 = SLAT Disabled
1 = SLAT Min
Speed/Torque
2 = SLAT Max
Speed/Torque
The Slat Configuration attribute configures the Speed Limited Adjustable Torque
feature. The SLAT Configuration enumeration determines how the drive controls
torque for this axis instance. In order to support applications that require Speed
Limited Adjustable Torque (SLAT) control, the Min/Max torque control
enumerations provide a feature to automatically switch to and from speed control
under certain conditions. In either SLAT mode the drive will operate in one of
two min/max states - speed control off or on.
Bit Name Description
0 SLAT Disabled SLAT function is disabled. Normal Velocity Loop operation.
1 SLAT Min Speed/Torque Drive will automatically switch from torque control to speed control if
Velocity Error < 0 and switch back to torque control if Velocity Error >
SLAT Setpoint for SLAT Time.
2 SLAT Max Speed/Torque Drive will automatically switch from torque control to speed control if
Velocity Error > 0 and switch back to torque control if Velocity Error <
-SLAT Set Point for SLAT Time
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SLAT Set Point
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - V Set/SSV REAL 0 0 Velocity Units
Speed Error level to switch from Speed control to Min/ Max control.
SLAT Time Delay
Time delay after SLAT Set Point is reached to switch from Speed control to Min/
Max control.
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - V Set/SSV REAL 0 0 Seconds
Time delay after SLAT Set Point is reached to switch from Speed control to Min/
Max control.
SLAT Min Speed/Torque Mode
In SLAT Min Speed/Torque mode (SLAT Configuration = 1) the drive defaults
to the state with speed control off (leftmost state) shown in the figure below. In
this state, the torque reference is the minimum, or Min function, of the Velocity
Loop Output or the Torque Command.
Min Mode
When used for SLAT control, an application dependent Velocity Command is
applied to the drive. When the motor's speed is mechanically limited, this
reference is at a level that results in saturation of the velocity loop output. In this
state, the 'Min' select operation selects the smaller Torque Command value. The
Velocity Error is positive in value equal to the Velocity Command.
If the mechanical speed limitation is removed (example web break), the motor
accelerates and the Velocity Error becomes negative when the motor speed exceeds
the Velocity Command. At this time, an automatic transition to speed control
occurs and the Velocity Loop Output is selected as the Torque Reference,
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regardless of the value of the Torque Command. Coincident with the transition
into speed control, a preset operation will occur within the velocity loop. This
preset will force the velocity loop integrator to match the internal torque reference
value, at the time of the mode transition.
In Min mode the drive remains in speed control until the Velocity Error exceeds
the configured SLAT Set-point attribute value for a period of time given by the
SLAT Time Delay attribute. When these two conditions are met, speed control is
turned off and the 'Min' select operation becomes active. This condition would
occur if the mechanical constraint was restored.
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. The Velocity Command value is
a negative quantity and so when the motor speed is mechanically limited, the
Velocity Error is a negative value, and the Velocity Loop Output is a saturated
(limited) to a negative value. The Torque Command is also negative, but smaller
in magnitude, so it becomes selected by the 'Max' operation.
The forced transition to speed control occurs when the Velocity Error value
becomes positive such as when the mechanical limitation is removed. A preset of
the velocity loop's integral term occurs, as before.
When, by restoring the mechanical constraint, the Velocity Error becomes
negative again and less than the negated SLAT Set-point parameter value for a
SLAT Time delay, speed control is turned off and the 'Max' select operation
becomes active.
See also
Position Loop Attributes on page 281
Position Loop Configuration Attributes on page 284
Velocity Loop Attributes on page 307
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Velocity Loop Signal Attributes These are the velocity control signal related attributes associated with a Motion
Control Axis.
Velocity Command
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get T REAL - - - Velocity Control
Units/Second
The Velocity Command attribute is the command velocity output from the Fine
Command Generator (if active) into velocity loop when configured for the
Velocity Loop control or frequency controller when configured for Frequency
Control operation.
Velocity Trim
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Set/SSV T REAL 0 -maxspd maxspd Velocity Units
Additional velocity command added to the velocity loop summing junction.
Acceleration Feedforward Command
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Get/GSV T 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.
Velocity Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/GSV T REAL - - - Velocity Units
Command velocity reference into velocity loop summing junction, or in the case
of Frequency Control, the signal that is scaled to become the Frequency Reference.
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Velocity Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Required - EDl Get/GSV T REAL - - - Velocity Units
Actual velocity of the axis applied to the velocity summing junction, if applicable,
based on Control Mode selection. In most cases the Velocity Feedback signal is
derived directly from the feedback device specified by the Feedback Mode
selection. If the axis is configured for Feedback Only mode, Velocity Feedback
represents the actual velocity of the feedback device. If the axis is configured for
Frequency Control, the Velocity Feedback signal is derived from the Velocity
Reference signal. If configured for Sensorless Velocity Loop operation, i.e.
Feedback Mode set to No Feedback, Velocity Feedback is estimated by the
sensorless control algorithm.
Velocity Error
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Get/GSV T REAL - - - Velocity Units
Error between the velocity reference and velocity feedback value that is the output
of the velocity loop summing junction.
Velocity Integrator Output
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Get/GSV T REAL - - - Accel Units
Output of velocity integrator representing the contribution of the velocity
integrator to Velocity Loop Output.
Velocity Loop Output
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Get/GSV T REAL - - - Accel Units
Output of velocity forward path representing the total control effort of the
velocity loop.
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Velocity Limit Source
Usage Access T Data Default Min Max Semantics of Values
Type
Optional- PV Get/GSV T DINT - - - Enumeration:
0 = Not Limited
1 = Positive Limit
2 = Negative Limit
3 = Bus Overvoltage Limit
4 = Max Extended Speed
Limit
5 - 127 = (Reserved)
128 – 255 = Vendor
Specific
The Velocity Limit Source attribute is an enumerated value that specifies the
source of the operative velocity limit.
Velocity Limiter Extensions
Permanent magnet (PM) motor applications sometimes require drives to provide
extensions to the velocity limiter function to protect the drive electronics and
motor from potentially destructive overspeed conditions when operating at speeds
above the motor's rating. The Velocity Limiter serves to protect the drive and
motor when applied in these high speed applications.
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 c ) and peak torque (T p )
capabilities of the motor. PM motors typically specify a 'rated speed' (S r ) based on
rated voltage and continuous torque and also a 'max speed' (S m ) based on the
maximum operating speed. Often the specified rated speed and max speed for the
motor are set to the same value.
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Field Weakening
PM motors can also be operated using a technique called "field weakening" to
extend the top speed capability of the motor. Field weakening uses active current
vector control to reduce the effective magnetic field strength from the permanent
magnets, enabling higher speeds at the expense of lower torque production. While
the use of field weakening to significantly extend motor speed range is more
common for Interior PM (IPM) motors, the speed range of Surface-mount PM
(SPM) motors can be significantly extended as well. The following graph
illustrates the PM Motor Torque-Speed Curve with Field Weakening.
When the drive applies field weakening to a PM motor to reach higher than rated
speed, the drive's motor current vector control algorithm effectively decreases the
motor Ke. This reduces the resulting Counter EMF (CEMF) voltage to be less
than the DC bus voltage. However, if this active current vector control is suddenly
removed, the Ke value would revert to the nominal value and the CEMF voltage
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.
Three speed values are shown in the preceding figure. As defined in the first figure,
the rated speed (S r ) corresponds to operation at rated voltage and continuous
torque. This is the maximum continuous torque that can be achieved without field
weakening. S OV is the speed at which the CEMF voltage from the nominal Ke
would be equivalent to the maximum DC Bus Voltage rating of the drive, or the
DC Bus Overvoltage Limit.
If active motor current control is removed while the motor is operating at speeds
above S OV , the CEMF voltage results in a DC Bus overvoltage condition that can
damage the drive and, possibly, other drives sharing the same DC Bus.
S m is the absolute maximum operating speed of the motor based on mechanical
constraints. For a rotary motor, S m would be given by the Rotary Motor Max
Speed attribute.
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Major damage to devices connected to the DC Bus can occur when the PM motor
is allowed to run between S OV and S m and the drive's power structure is disabled.
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 OV and S m defined above. Specifically, the PM Motor Rotary - Bus
Overvoltage Speed and PM Motor Linear Bus Overvoltage Speed attributes
establish an absolute limit on the Velocity Reference signal that corresponds to
S OV . This speed limit can only be exceeded if the PM Motor Extended Speed
Permissive attribute is set to True. The PM Motor Rotary Max Extended Speed
and PM Motor Linear Max Extended Speed attributes establish an absolute limit
on the Velocity Reference signal that corresponds to S m . The Velocity Limit
function limits the Velocity Reference signal to the minimum of these attribute
values. The Velocity Limit Source attribute indicates the source of the velocity
limit.
Through these extensions to the Velocity Limiter function, a drive that supports
field weakening can be configured to safely manage extended speed operation, only
allowing operation above S OV by setting the PM Motor Extended Speed
Permissive attribute. Systems that can run safely above S OV are generally equipped
with a DC Bus Regulator or a Resistive Brake Module.
See also
Position Loop Signal Attributes on page 281
Position Loop Configuration Attributes on page 284
Velocity Loop Configuration Attributes on page 299
General Permanent Magnet Motor Attributes on page 519
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Data Attributes These attribute tables contain attributes associated with general data of Motion
Control Axis Object instance.
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 T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Volts (RMS)
The Inverter Rated Output Voltage attribute is the drive inverter output voltage
rating. This value is hard coded in the device.
Inverter Rated Output Current
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Amps (RMS)
The Inverter Rated Output Current attribute is the drive inverter output current
rating. This value is hard coded in the device.
Inverter Rated Output Power
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Kilowatts
The Inverter Rated Output Power attribute is the drive inverter output power
rating. This value is hard coded in the device.
Converter Rated Output Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV REAL - - - Amps
The Converter Rated Output Current attribute is the converter output current
rating.
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Converter Rated Output Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV REAL - - - Kilowatts
The Converter Rated Output Power attribute is the converter output power
rating.
Converter Rated Output Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV REAL - - - Volts
The Converter Rated Output Voltage attribute is the converter output voltage
rating.
Converter Rated Input Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV REAL - - - Amps (RMS)
The Converter Rated Input Current attribute is the converter input current
rating.
Converter Rated Input Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV REAL - - - Kilowatts
The Converter Rated Input Power attribute is the converter input power rating.
Converter Rated Input Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV REAL - - - Volts (RMS)
The Converter Rated Input Voltage attribute is the converter input voltage rating.
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Drive Power Structure Axis ID
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Get/GSV UDINT - - - Volts (RMS)
The Drive Power Structure Axis ID attribute represents an ID assigned by the
drive vendor that uniquely identifies the power structure associated with this axis
instance. By contrast, power structure hardware that is common or identical to all
axis instances of the drive (excluding master feedback axes) can be identified using
the Drive Power Structure Class ID attribute. The Drive Power Structure Axis ID
can be included as part of the data segment in the CIP Motion connection’s
Forward Open service to confirm that the power structure for this axis instance
matches the configuration in the controller. Axis instances with power structures
that are not configured are set to 0, indicating to the device that the Drive Power
Structure Axis ID for such an axis instance does not need to be checked.
See also
Drive Output Attributes on page 341
Power and Thermal Management Configuration Attributes on page 342
Converter Current Reference Signal Attributes on page 612
Axis Statistical Attributes These are the attributes that provide useful statistics on motion axis operation.
Control Power-up Time
Usage Access T Data Default Min Max Semantics of value
Type
Optional - BD MSG REAL - - - Seconds
Elapsed time since axis control power was last applied.
Cumulative Run Time
Usage Access T Data Default Min Max Semantics of value
Type
Optional - BD MSG REAL - - - Hours
Accumulated time that the axis has been powering the Running state.
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Cumulative Energy Usage
Usage Access T Data Default Min Max Semantics of value
Type
Optional - BD MSG REAL - - - Kilowatt Hours
Accumulated output energy of the axis.
Cumulative Motor Rev
Usage Access T Data Default Min Max Semantics of value
Type
Optional - D MSG LINT - - -
Cumulative number of times motor shaft has turned. (Rotary Motors Only).
Cumulative Main Power Cycles
Usage Access T Data Default Min Max Semantics of value
Type
Optional - BD MSG DINT - - -
Cumulative number of times AC Mains has been cycled.
Cumulative Control Power Cycles
Usage Access T Data Default Min Max Semantics of value
Type
Optional - BD MSG DINT - - -
Cumulative number of times Control Power has been cycled.
See also
Interpret the Attribute Tables on page 93
CIP Axis Status Attributes These are the device status attributes associated with a Motion Control Axis. Any
status bits that are not applicable are set to 0.
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CIP Axis State
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/GSV T USINT - - - Enumeration
0 = Unconnected
1 = Pre-Charge
2 = Stopped
3 = Starting
4 = Running
5 = Testing
6 = Stopping
7 = Aborting
8 = Faulted
9 = Start Inhibited
10 = Shutdown
11 = Axis Inhibited
12 = Not Grouped
13 = No Module
14 = Configuring
15 = Synchronizing
16 = Waiting for Group
17-255 = Reserved
Enumerated value indicating the state of the axis.
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CIP Axis Status
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Enumeration:
0 = Local Control
1 = Alarm
2 = DC Bus Up
3 = Power Structure Enabled
4 = Motor Flux Up
5 = Tracking Command
6 = Position Lock
7 = Velocity Lock
8 = Velocity Standstill
9 = Velocity Threshold
10 = Velocity Limit
11 = Acceleration Limit
12 = Deceleration Limit
13 = Torque Threshold
14 = Torque Limit
15 = Current Limit
16 = Thermal Limit
17 = Feedback Integrity
18 = Shutdown
19 = In Process
20 = DC Bus Unload
21 = AC Power Loss
22 = Position Control Mode
23 = Velocity Control Mode
24 = Torque Control Mode
25-31 = Reserved
The CIP Axis Status attribute is a 32-bit collection of standard bits indicating the
internal status conditions of the axis.
CIP Status Bit Descriptions
Bit Usage Status Condition Description
0 Required Local Control This bit is set if axis is taking command reference and
services from local interface instead of the remote (CIP
Motion) interface. This bit is based on the current state of
the Remote Mode bit of the Node Status attribute.
1 Required Alarm This bit is set if the axis has detected one or more exception
conditions configured to generate an alarm. This bit is clear
if there are no current axis alarm conditions.
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Bit Usage Status Condition Description
2 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. If the drive's Bus
Configuration attribute is set to "Shared DC - Non CIP
Converter" the drive may also check the status of its
associated external Non-CIP Motion converter. When a
drive axis is in the Pre-Charge state, the transition of the DC
Bus Up status bit from 0 to 1 initiates a state transition to
the Stopped State. Once set, the DC Bus Up bit is cleared
when the DC Bus voltage has dropped below an
operational voltage level, or the Converter Bus Up Status
bit associated with external CIP Motion converter(s)
supplying DC Bus power to this device is cleared.
For a converter axis, this bit is set if the DC Bus has charged
up to an operational voltage level based on direct
measurement alone. When a converter axis is in the
Pre-Charge state, the transition of the DC Bus Up status bit
from 0 to 1 initiates a state transition to the Running state.
Once set, the DC Bus Up bit is cleared when the DC Bus
voltage has dropped below an operational voltage level,
independent of the state of the Converter Bus Up Status bit.
3 Required/ Power Structure This bit is set if the axis power structure is energized and
GD Enabled capable of generating motor flux and torque for a drive
axis, or regenerating power to the AC line for a converter
axis. The value of the Power Structure Enabled bit is
determined by the Axis State, and for the drive axis, the
configured Stopping Action attribute value.
4 Required/ Motor Flux Up This bit is set if motor flux for an induction motor has
D reached an operational level. Transition of the Motor Flux
Up bit is initiated in the Starting State according to the
configured Flux Up Control attribute value. This bit is only
applicable to Induction Motor types.
5 Required/ Tracking Command This bit is set if the axis control structure is actively tracking
GD the command reference from the motion planner
associated with the drive axis, or the bus voltage setpoint
associated converter axis. The Tracking Command bit is
directly associated with the Running state of the Axis State
Model.
6 Required/ Position Lock This bit is set if the actual position is within the Position
P Lock Tolerance of the command position.
7 Optional/ Velocity Lock This bit is set if the velocity feedback signal is within the
PV Velocity Lock Tolerance of the unlimited velocity reference.
8 Required/ Velocity Standstill This bit is set if the velocity feedback signal is within
ED Velocity Standstill Window of 0. For a Frequency Control
drive this bit is set if the velocity reference signal is within
Velocity Standstill Window of 0.
9 Optional/ Velocity Threshold This bit is set if the absolute velocity feedback signal is
ED below Velocity Threshold. For a Frequency Control drive
this bit is set if the absolute velocity reference signal is
below the Velocity Threshold.
10 Optional/ Velocity Limit This bit is set if the velocity reference signal is currently
FPV being limited by the Velocity Limiter.
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Bit Usage Status Condition Description
11 Optional/ Acceleration Limit This bit is set if the acceleration reference signal is currently
C being limited by the Acceleration Limiter.
12 Optional/ Deceleration Limit This bit is set if the acceleration reference signal is currently
C being limited by the Deceleration Limiter.
13 Optional/ Torque Threshold This bit is set if the absolute filtered torque reference is
C above the Torque Threshold.
14 Required/ Torque Limit This bit is set if the filtered torque reference is currently
C being limited by the Torque Limiter.
15 Optional/ Current Limit This bit is set if the command current, Iq, is currently being
D limited by the Current Vector Limiter.
16 Optional/ Thermal Limit This bit is set if Current Vector Limit condition of the axis is
D being limited by any of the axis's Thermal Models or I2T
Thermal Protection functions.
17 Required/ Feedback Integrity This bit, when set, indicates that the feedback device is
ED accurately reflecting changes to axis position, and there
have been no conditions detected that would compromise
the quality of the feedback position value.
The bit is set at power-up assuming that the feedback
device passes any power-up self-test required.
If, during operation, a feedback exception occurs that could
impact the fidelity of axis position, the bit is immediately
cleared. The bit remains clear until either a fault reset is
executed by the drive or the drive is power cycled.
Fault Resets can be generated directly by the drive or
initiated by the controller using motion instructions. Note
that the Feedback Integrity bit behavior applies to both
absolute and incremental feedback device operation.
18 Required/ Shutdown This bit is set when the axis is in the shutdown state or in
BD the faulted state but would transition to the shutdown
state if the faults were cleared. Therefore, the Shutdown bit
is closely associated with the Shutdown State of the Axis
State Model.
19 Required In Process This bit is set for the duration of an active process. An
example of active process would be an operation initiated
by a Run Motor Test, Run Hookup Test, or Run Inertia Test
to request service. An active process that requires the
enabling of the axis power structure results in a transition
to the Testing State of the Axis State Model.
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Bit Usage Status Condition Description
20 Optional/ DC Bus Unload This bit is set by a CIP Motion converter, or a CIP Motion
BD 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. This is usually the result
of a shutdown fault action initiated by the drive or
converter, or a shutdown request from the controller. Thus,
when the DC Bus Unload bit is set, the Shutdown bit (bit
18) in this case would also be set. The DC Bus Unload bit
can also be set as a result of a start inhibit condition. When
there is no AC Contactor Enable output to drop the DC Bus,
a method is needed to unload the converter from all other
drives sharing the DC Bus. By monitoring the DC Bus Unload
status bit, the control system can use the Converter Bus
Unload bit of Control Status to initiate Bus Power Sharing
exceptions on all enabled drives on the shared DC Bus that
are configured for Shared AC/DC or Shared DC operation.
This Bus Power Sharing exception invokes the configured
Exception Action that, by default, disables the drive power
structure, thereby unloading the bus. All disabled drives
sharing the DC Bus shall indicate a Converter Bus Unload
start inhibit.
Note that only the originating drive or converter with the
DC Bus Unload condition can cause Bus Power Sharing
Faults on other shared drives. In other words, no device
with a Bus Power Sharing Fault can cause a Bus Power
Sharing exception on other shared drives by setting its DC
Bus Unload bit. This qualification prevents DC Bus recovery
deadlock. To recover full DC Bus operation, the originating
drive or converter with the DC Bus Unload condition must
first be reset through a Shutdown Reset Request. Once
clear, the controller then clears the Converter Bus Unload
bit to all the shared drives. The Bus Power Sharing Faults on
the shared drives can then be successfully cleared by either
a Fault Reset Request, or a Shutdown Reset Request,
allowing these drives to become operational.
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Bit Usage Status Condition Description
21 Optional/ AC Power Loss This bit is set when a CIP Motion converter, or a CIP Motion
BD drive containing an integral converter, or a CIP Motion drive
connected to an external non-CIP converter, has detected a
loss of AC input power. This bit is cleared when AC input
power is determined to be sufficient for converter
operation.
When an AC Power Loss condition is detected by a
converter supplying power to other drives over a shared DC
Bus, a method is needed to generate a Converter AC Power
Loss exception on any drive whose power structure is
enabled. To accomplish this, the control system monitors
the AC Power Loss status bits of converters supplying DC
Bus power and propagates AC Power Loss status to all
drives on the shared DC Bus, such as drives that are
configured for Shared AC/DC or Shared DC operation. Upon
notification of AC Power Loss, drives that have enabled
power structures will assert a Converter AC Power Loss
exception and invoke the programmed Axis Exception
Action. Disabled drives will not generate an exception
action on AC Power Loss. Thus, no drive faults will occur on
removal of AC Power from a converter as long as no drive
power structures drawing power from that converter are
enabled.
22 Optional/ Position Control When set, this bit indicates that axis position is being
C Mode actively controlled by the Position Loop. Position Control
Mode is only applicable when the axis is enabled and using
the PI Vector Control Method. The "Position Control Mode"
status bit is cleared whenever the active Control Mode is
changed from Position Control to Velocity Control or Torque
Control. This status bit is clear if the drive axis is disabled.
23 Optional/ Velocity Control When set, this bit indicates that axis velocity is being
C Mode actively controlled by the Velocity Loop. Velocity Control
Mode is only applicable when the drive axis is enabled and
using the PI Vector Control Method. The "Velocity Control
Mode" status bit is cleared whenever the active Control
Mode is changed from Velocity Control to Position Control
or Torque Control. This status bit is clear if the drive axis is
disabled.
24 Optional/ Torque Control When set, this bit indicates that axis velocity is being
C Mode actively controlled by the Torque (Current) Loop. Torque
Control Mode is only applicable when the drive axis is
enabled and using the PI Vector Control Method. The
"Torque Control Mode" status bit is cleared whenever the
active Control Mode is changed from Torque Control to
Position Control or Velocity Control. This status bit is clear if
the drive axis is disabled.
25-31 - Reserved -
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The naming convention for individual bits within the CIP Axis Status attributes is
to append a 'Status' suffix to the CIP Axis Status condition. This table lists the
resulting CIP Axis Status tags associated with the above status conditions.
Bit Tag
0 LocalControlStatus
1 AlarmStatus
2 DCBusUpStatus
3 PowerStructureEnabledStatus
4 MotorFluxUpStatus
5 TrackingCommandStatus
6 PositionLockStatus
7 VelocityLockStatus
8 VelocityStandstillStatus
9 VelocityThresholdStatus
10 VelocityLimitStatus
11 AccelerationLimitStatus
12 DecelerationLimitStatus
13 TorqueThresholdStatus
14 TorqueLimitStatus
15 CurrentLimitStatus
16 ThermalLimitStatus
17 FeedbackIntegrityStatus
18 ShutdownStatus
19 InProcessStatus
20 DCBusUnloadStatus
21 ACPowerLossStatus
22 PositionControlMode
23 VelocityControlMode
24 TorqueControlMode
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CIP Axis Status 2
Usage Access T Data Type Default Min Max Semantics of Values
Required - G Get/GSV T DWORD - - - Enumeration:
Optional - NED 0 = Monitoring
All 1 = Regenerating
2 = Ride Thru
3 = AC Line Sync
4 = Bus Voltage Lock
5 = Reactive Power Only Mode
6 = Voltage Control Mode
7 = Power Loss
8 = AC Line Voltage Sag
9 = AC Line Phase Loss
10 = AC Line Frequency Change
11 = AC Line Sync Loss
12 = Single Phase
13 = Bus Voltage Limit
14 = Bus Voltage Rate Limit
15 = Active Current Rate Limit
16 = Reactive Current Rate Limit
17 = Reactive Power Limit
18 = Reactive Power Rate Limit
19 = Active Current Limit
20 = Reactive Current Limit
21 = Motoring Power Limit
22 = Regenerative Power Limit
23 = Converter Thermal Limit
24-31 = Reserved
The CIP Axis Status 2 attribute is a collection of standard bits indicating the
internal status conditions of the axis. This attribute provides a 32-bit extension to
the CIP Axis Status attribute.
CIP Axis Status 2 Bit Descriptions
Bit Usage Status Condition Description
0 Optional/ Motoring This bit is set when regenerative converter is consuming
G power from the AC Line.
1 Optional/ Regenerating This bit is set when regenerative converter is regenerating
G power to the AC Line.
2 Optional/ Ride Thru This bit is set when the device has initiated a Ride Thru
GD action, temporarily suspending PWM modulation, as a
result of detecting a problem with the power source.
3 Optional/ AC Line Sync This bit is set when regenerative converter is phase locked
G to the AC Line voltage.
4 Optional/ Bus Voltage Lock This bit is set if the measured DC Bus Voltage is within a
G vendor specific tolerance (that is 1%) of the Bus Voltage
Reference.
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Bit Usage Status Condition Description
5 Optional/ Reactive Power Only This bit is set when the regenerative converter is operating
G Mode in Reactive Power Only Mode, supplying reactive power to
the grid for Power Factor correction.
6 Optional/ Voltage Control When set, this bit indicates that DC bus voltage is being
G Mode actively controlled by the Bus Voltage Loop of the
regenerative converter. The Voltage Control Mode status
bit is cleared whenever the active Converter Control Mode
is changed from Bus Voltage Control to AC Line Current
Control. This status bit is clear if the converter is disabled.
7 Optional/ Power Loss This bit is set when a Power Loss condition has been
GD detected. For a drive, this may have initiated a Ride Thru
action, where the PWM output to the motor is temporarily
suspended, or has initiated a Decel Regen action, where
drive attempts to hold the DC Bus voltage up by
decelerating the motor. For a regenerative converter this
may have initiated a Ride Thru action where PWM
Modulation is suspended to the AC Line.
8 Optional/ AC Line Voltage Sag This bit is set when a regenerative converter detects a sag
G in AC line voltage. If configured to do so, this may have
initiated a Ride Thru action, where PWM modulation to the
AC line is temporarily suspended.
9 Optional/ AC Line Phase Loss This bit is set when a regenerative converter detects an AC
G line phase loss. If configured to do so, this may have
initiated a Ride Thru action, where PWM modulation to the
AC line is temporarily suspended.
10 Optional/ AC Line Frequency This bit is set when a regenerative converter detects a high
G Change rate of change of the AC line frequency. If configured to do
so, this may have initiated a Ride Thru action, where PWM
modulation to the AC line is temporarily suspended.
11 Optional/ AC Line Sync Loss This bit is set when a regenerative converter detects it has
G lost synchronization to the AC line. If configured to do so,
this may have initiated a Ride Thru action, where PWM
modulation to the AC line is temporarily suspended.
12 Optional/ Single Phase This bit is set when converter is operating on a single
BD phase.
13 Optional/ Bus Voltage Limit This bit is set if the bus voltage reference signal into the bus
G voltage control loop is currently being limited by the Bus
Voltage Limiter block.
14 Optional/ Bus Voltage Rate This bit is set if the bus voltage Rate Limiter block is
G Limit currently limiting the rate of change of the bus voltage set
point signal into the bus voltage control loop.
15 Optional/ Active Current Rate This bit is set if the Rate Limiter block is currently limiting
G Limit the rate of change of the Active Current Command signal.
16 O/G Reactive Current This bit is set if the Rate Limiter block is currently limiting
Rate Limit the rate of change of the Reactive Current Command signal.
17 Optional/ Reactive Power This bit is set if the Power Limiter block is currently limiting
G Limit the Reactive Power Set Point signal.
18 Optional/ Reactive Power Rate This bit is set if the Rate Limiter block is currently limiting
G Limit the rate of change of the Reactive Power Set Point signal.
19 Optional/ Active Current Limit This bit is set if the active current reference signal is
G currently being limited by the Current Limiter block.
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Bit Usage Status Condition Description
20 Optional/ Reactive Current This bit is set if the reactive current reference signal is
G Limit currently being limited by the Current Limiter block.
21 Optional/ Motoring Power This bit is set if the current reference signals are currently
G Limit being limited by the Current Limiter block due to the
Motoring Power Limit.
22 Optional/ Regenerative Power This bit is set if the current reference signals are currently
G Limit being limited by the Current Limiter block due to the
Converter Regenerative Power Limit.
23 Optional/ Converter Thermal This bit is set if the current reference signals are currently
G Limit being limited by the Current Limiter block due to the
Converter Thermal Current Limit.
24-31 - Reserved -
The naming convention for individual bits within the CIP Axis Status 2 attributes
is to append a 'Status' suffix to the CIP Axis Status 2 condition. This table lists the
resulting CIP Axis Status 2 tags associated with the above status conditions.
Bit Tag
0 MotoringStatus
1 RegeneratingStatus
2 RideThruStatus
3 ACLineSyncStatus
4 BusVoltageLockStatus
5 ReactivePowerOnlyModeStatus
6 VoltageControlModeStatus
7 PowerLossStatus
8 ACLineVoltageSagStatus
9 ACLinePhaseLossStatus
10 ACLineFrequencyChangeStatus
11 ACLineSyncLossStatus
12 SinglePhaseStatus
13 BusVoltageLimit
14 BusVoltageRateLimit
15 ActiveCurrentRageLimit
16 ReactiveCurrentRateLimit
17 ReactivePowerLimit
18 ReactivePowerRateLimit
19 ActiveCurrentLimit
20 ReactiveCurrentLimit
21 MotoringPowerLimit
22 RegenerativePowerLimit
23 ConverterThermalLimit
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CIP Axis Status 2 - Mfg
Usage Access T Data Type Default Min Max Semantics of Values
Required - G Get/GSV T DWORD - - - Bitmap:
Optional - NED 0-31: Vendor Specific
All (Published in Product Manual)
The CIP Axis Status 2 - Mfg attribute is a collection of vendor specific bits
indicating the internal status of the axis.
CIP Axis Status - RA
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Enumeration
0 = Torque Notch Filter
Frequency Detected
1 = Torque Notch Filter Tuning
Unsuccessful
2 = Torque Notch Filter Multiple
Frequencies
3 = Torque Notch Filter
Frequency Below Limit
4 = Torque Notch Filter
Frequency Above Limit
5 = Adaptive Tune Gain
Stabilization Active
6 - 31 = Reserved
The CIP Axis Status attribute is a 32-bit collection of Rockwell Automation
specific bits indicating various internal status conditions of the device axis. Any
status bits that are not applicable are set to 0.
CIP Axis Status- RA Status Bit Descriptions
Bit Usage Status Condition Description
0 Optional/ Torque Notch Filter Frequency This bit is set when the Adaptive Tuning function
C Detected has detected a resonance frequency between the
Torque Notch Filter Low Frequency Limit and the
Torque Notch Filter High Frequency Limit with
magnitude above the Toque Notch Filter Tuning
Threshold. Otherwise, the bit is clear.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions to the Running
state.
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Bit Usage Status Condition Description
1 Optional/ Torque Notch Filter Tuning When the Adaptive Tuning Configuration is set to
C 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
Limit with magnitude above the Toque Notch Filter
Tuning Threshold. Otherwise, the bit is clear.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions to the Running state
or, when in the Running state, the Adaptive Tuning
Configuration transitions from Disabled to one of
the Torque Notch Filter Tuning enumerations.
2 Optional/ Torque Notch Filter Multiple This bit is set when, the Adaptive Tuning function,
C Frequencies identifies multiple resonant frequencies that are
between the Torque Notch Filter Low Frequency
Limit and the Torque Notch Filter High Frequency
Limit whose magnitudes are above the Toque
Notch Filter Tuning Threshold. Otherwise, the bit is
clear.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions to the Running
state.
3 Optional/ Torque Notch Filter Frequency This bit is set when the Adaptive Tuning function
C Below Limit identifies a frequency that is below the Torque
Notch Filter Low Frequency Limit but whose
magnitude is higher than the configured Toque
Notch Filter Tuning Threshold. Otherwise, the bit is
clear.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions to the Running
state.
4 Optional/ Torque Notch Filter Frequency This bit is set when the Adaptive Tuning function
C Above Limit identifies a frequency that is above the Torque
Notch Filter High Frequency Limit but whose
magnitude is higher than the configured Toque
Notch Filter Tuning Threshold. Otherwise, the bit is
clear.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions from disabled to
enabled operation.
5 Optional/ Adaptive Tune Gain This bit is set when the Adaptive Tune Gain Scaling
C Stabilization Active Factor is not equal to one. This indicates that the
Adaptive Tuning function is actively adjusting servo
loop gain values and the Torque Low Pass Filter
Bandwidth value to improve system stability.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions to the Running
state.
6-31 - Reserved -
The naming convention for individual bits within the CIP Axis Status RA
attributes is to append a 'Status' suffix to the CIP Axis Status RA condition. This
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table lists the resulting CIP Axis Status RA tags associated with the above status
conditions.
Bit Tag
0 TorqueNotchFilterFreqDetectedStatus
1 TorqueNotchFilterTuneUnsuccessfulStatus
2 TorqueNotchFilterMultipleFreqStatus
3 TorqueNotchFilterFreqBelowLimitStatus
4 TorqueNotchFilterFreqAboveLimitStatus
5 AdaptiveTuneGainStabilizationStatus
CIP Axis Status 2 - RA
Usage Access T Data Type Default Min Max Semantics of Values
Required - G Get/GSV T DWORD - - - -
Optional - NED
All
The CIP Axis Status 2 attribute is a collection of Rockwell Automation specific
bits indicating various internal status conditions of the axis. This attributes
provides a 32-bit extension to the CIP Axis RA attribute. Any status bits that are
not applicable are set to 0.
CIP Axis Status 2 - RA Status Bit Descriptions
Bit Usage Status Condition Description
0-31 Reserved -
The naming convention for individual bits within the CIP Axis Status 2 RA
attributes is to append a 'Status' suffix to the CIP Axis Status 2 RA condition.
This table lists the resulting CIP Axis Status 2 RA tags associated with the above
status conditions.
Bit Tag
0 -
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CIP Axis I/O Status
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Enumeration:
0 =Enable Input
1 =Home Input
2 = Registration 1 Input
3 = Registration 2 Input
4 = Positive Overtravel OK Input
5 = Negative Overtravel OK Input
6 = Feedback 1 Thermostat OK
Input
7 = Resistive Brake Release
Output
8 = Mechanical Brake Release
Output
9 = Motor Thermostat OK Input
10 - 31 = Reserved.
The CIP Axis I/O Status attribute is a 32-bit collection of bits indicating the state
of standard digital inputs and outputs associated with the operation of this axis. A
value of zero for a given input bit indicates a logical 0 (false) value, while a value of
1 indicates a logical 1 (true) value. For example a value of 1 for the Positive
Overtravel OK Input indicates that Positive Overtravel OK is true and there is no
positive overtravel condition present. Conversely a value of 0 would indicate the
Positive Overtravel OK Input is false and there is a positive overtravel condition
present. Similarly, a value of 1 (true) for the Mechanical Brake Release Output
indicates that the mechanical brake is released. Any status bits that are not
applicable will be set to 0.
CIP Axis I/O Status Bit Descriptions
Bit Usage Status Condition Description
0 Required/ Enable Input This bit represents the logical state of the Enable Input.
BD
1 Required/ Home Input This bit represents the logical state of the Home Input.
ED
2 Required/ Registration 1 Input This bit represents the logical state of the Registration 1
ED Input.
3 Optional/ Registration 2 Input This bit represents the logical state of the Registration 2
ED Input.
4 Required/ Positive Overtravel OK This bit represents the logical state of the Positive
P Input Overtravel OK Input.
5 Required/ Negative Overtravel OK This bit represents the logical state of the Negative
P Input Overtravel OK Input.
6 Optional/ Feedback 1 Thermostat This bit represents the logical state of the Thermostat OK
ED OK Input input associated with the motor mounted Feedback
1device.
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Bit Usage Status Condition Description
7 Optional/ Resistive Brake Release This bit represents the logical state of the Resistive Brake
D Output Release Output.
8 Optional/ Mechanical Brake This bit represents the logical state of the Mechanical
D Release Output Brake Release Output.
9 Optional/ Motor Thermostat OK This bit represents the logical state of the Motor
D Input Thermostat OK Input.
10-31 - Reserved -
The naming convention for individual bits within the CIP Axis I/O Status
attributes is to append a 'Status' suffix to the CIP Axis Status condition. This table
lists the resulting CIP Axis I/O Status tags associated with the above status
conditions.
Bit Tag
0 EnableInputStatus
1 HomeInputStatus
2 Registration1InputStatus
3 Registration2InputStatus
4 PositiveOvertravelInputStatus
5 NegativeOvertravelInputStatus
6 Feedback1ThermostatInputStatus
7 ResistiveBrakeOutputStatus
8 MechanicalBrakeOutputStatus
9 MotorThermostatInputStatus
CIP Axis I/O Status - RA
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - 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
5 = AC Line Contactor OK Input
6 = Regenerative Power OK
Output
7 = Bus Conditioner Module OK
Input
8 = Converter OK Input
9 = Converter OK Output
10 - 31 = Reserved
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Collection of bits indicating the state of Rockwell Automation specific digital
inputs associated with the operation of this axis. A value of zero for a given input
bit indicates a logical 0 value, while a value of 1 indicates a logical 1 value.
CIP Axis I/O Status - RA Bit Descriptions
Bit Usage Name Description
0 Optional/ Regenerative Power OK This bit represents the logical state of the Regenerative
D Input Power Input. This input status bit indicates the associated
external regenerative converter is in the Running state
and capable of transferring regenerative power.
1 Optional/ Bus Capacitor Module This bit represents the logical state of the Bus Capacitor
BD OK Input Module Input.
2 Optional/ Shunt Thermal Switch This bit represents the logical state of the Shunt Thermal
BD OK Input Switch Input.
3 Optional/ Contactor Enable This bit represents the logical state of the Contactor
BD Output Enable Output.
4 Optional/ Pre-Charge OK Input This bit represents the logical state of the Pre-Charge
BD Input.
5 Optional/ AC Line Contactor OK This bit represents the logical state of the AC Line
BD Input Contactor OK Input
6 Optional/ Regenerative Power OK This bit represents the logical state of the Regenerative
G Output Power Output. This output status bit indicates this
regenerative converter is in the Running state and
capable of transferring regenerative power.
7 Optional/ Bus Conditioner This bit represents the logical state of the Bus Conditioner
BD Module OK Input Module Input.
8 Optional/ Converter OK Input This bit represents the logical state of the Converter OK
D Input. This input status bit indicates the associated
external converter has determined that the DC bus has
reached operational voltage level and that the converter
is not faulted.
9 Optional/ Converter OK Output This bit represents the logical state of the Converter OK
B Output. This output bit indicates that this converter has
determined that the DC bus has reached operational
voltage level and is not currently faulted.
10-31 - Reserved -
The naming convention for individual bits within the CIP Axis I/O Status - RA
attributes is to append a 'Status' suffix to the CIP Axis Status - RA condition. This
table lists the resulting CIP Axis I/O Status -RA tags associated with the above
status conditions.
Bit Tag
0 RegenerativePowerInputStatus
1 BusCapacitorModuleInputStatus
2 ShuntThermalSwitchInputStatus
3 ContactorEnableOutputStatus
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Bit Tag
4 PreChargeInputStatus
5 ACLineContactorInputStatus
6 RegenerativePowerOutputStatus
7 BusConditioneerModuleInputStatus
8 ConverterInputStatus
9 ConverterOutputStatus
See also
CIP Axis Attributes on page 259
Motion Control Axis Behavior Model on page 57
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. The basis for all Time Stamp attributes is absolute
System Time and follows the CIP Sync standard with 0 corresponding to January
1, 1970. Within the Logix controller, the System Time for event time stamps are
converted to the local CST by applying the local System Time Offset to the event
time stamp. In general, these event related attributes are only applicable when
there is an associated position feedback device; if the axis is configured for
Encoderless or Sensorless operation, the event functionality is not applicable.
The Motion Control Axis supports two independent registration input channels
per device axis instance that can be triggered on either the rising or falling edges of
the signal. If the device hardware implementation allows, event time and position
data can be captured for all four event conditions simultaneously. The Event
Capture attributes also support Auto-rearm for registration events. This allows for
controller implementation of important features like Windowed Registration and
Registration Pattern Recognition.
The Motion Control Axis also supports Home Switch, Marker and
Switch-Marker events for homing functionality on a per axis basis. The Marker
events are typically generated by the configured position feedback device for the
associated device axis.
Registration Inputs
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Set/GSV USINT 0 0 10
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The Registration Inputs attribute determines the number of Registration Inputs
supported by this device axis instance. Maximum value is determined by drive
device profile.
Registration 1 Positive Edge Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T REAL - - - Position Units
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 T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T REAL - - - Position Units
The Registration 1 Negative Edge Position attribute is the feedback position
latched on the falling edge of the Registration Input 1.
Registration 2 Positive Edge Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T REAL - - - Position Units
The Registration 2 Positive Edge Position attribute feedback position latched on
the rising edge of the Registration Input 2.
Registration 2 Negative Edge Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T REAL - - - Position Units
The Registration 2 Negative Edge Position attribute feedback position latched on
the falling edge of the Registration Input 2.
Registration 1 Positive Edge Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T DINT - - - CST Time in Microseconds
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The Registration 1 Positive Edge Time attribute is the CST time stamp on the
rising edge of the Registration Input 1.
Registration 1 Negative Edge Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T DINT - - - CST Time in Microseconds
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 T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T DINT - - - CST Time in Microseconds
The Registration 2 Positive Edge Time attribute is the CST Time stamp on the
rising edge of the Registration Input 2.
Registration 2 Negative Edge Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T DINT - - - CST Time in Microseconds
The Registration 2 Negative Edge Time attribute is the CST Time stamp on the
falling edge of the Registration Input 2.
See also
Motion Control Signal Attributes on page 448
Motion Control Status Attributes on page 459
Drive Attributes These attribute tables contain attributes associated with the drive. Drive attributes
reside both on the controller and on the drive.
Drive General Purpose I/O These are the attributes that provide to general purpose analog and digital I/O
associated with the Motion Control Axis.
Attributes
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Digital Inputs
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Get T DWORD - - - Vendor Specific Bit Map
The Digital Inputs attribute is a 32-bit word with whose bits can be assigned by
the vendor to general purpose digital inputs.
Digital Outputs
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set T DWORD 0 - - 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 T Data Type Default Min Max Semantics of Values
Optional - BD Get T REAL - - - % Full Scale
The Analog Input 1 attribute is a general purpose analog input 1 level.
Analog Input 2
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get T REAL - - - % Full Scale
The Analog Input 2 attribute is a general purpose analog input 2 level.
Analog Output 1
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL 0 -100 +100 % Full Scale
The Analog Output 1 attribute is a general purpose analog output 1 level.
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Analog Output 2
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL 0 -100 +100 % Full Scale
The Analog Output 2 attribute is a general purpose analog output 2 level.
Enable Input Checking
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T BOOL 0 = Disabled
1 = Enabled
The Enable Input Checking attribute is a Boolean value used to control if the
drive or converter checks the state of the Enable Input. When enabling Enable
Input Checking, an inactive Enable Input triggers a Start Inhibit condition. If the
Enable Input deactivates when the drive or converter power structure is enabled,
an Enabled Input Deactivated exception is generated. If Enable Input Checking is
disabled, the device does not check the state of the Enable Input.
Hardware Overtravel Input Checking
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set T BOOL 0 0 = Disabled
1 = Enabled
The Hardware Overtravel Input Checking attribute is a Boolean value that
controls whether or not the drive shall regularly check the state of the positive and
negative Hardware Overtravel inputs. When Hardware Overtravel Input
Checking is enabled, an inactive Hardware Overtravel input results in an
associated Hardware Overtravel Positive or Negative exception. If Drive
Hardware Overtravel Checking is disabled, the drive shall not check the state of
the Hardware Overtravel inputs.
AC Line Contactor Input Checking
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T USINT 1 0 1 Enumeration
0 = Disabled
1 = Enabled
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The AC Line Contactor Input Checking attribute is a value that controls whether
or not the AC/DC converter function checks for the presence and proper
operation of the AC Line Contactor using the AC Line Contactor OK input. If
AC Line Contactor Checking is Enabled, the presence of AC line voltage at the
device when the AC Line Contactor OK input is Inactive shall cause the converter
to generate an AC Line Contactor exception. If AC Line Contactor Checking is
Disabled then the device shall not check the AC Line Contactor OK input.
Digital Output Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - All Set T USINT [32] 1 0 1 Enumeration
0 = Unassigned
1 = Contactor Enable
2 = Mechanical Brake
3 = Resistive Brake
4 = Regenerative Brake
5 = Converter Power
6-255 = (reserved)
The Digital Output Configuration attribute is an array of enumerated values that
map configurable digital output to specific functions of the drive axis.
Digital Input Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - All Set T USINT [32] - - - Enumeration
0 = Unassigned
1 = Enable
2 = Home
3 = Registration 1
4 = Registration 2
5 = Positive Overtravel OK
6 = Negative Overtravel OK
7 = Regenerative Power OK
8 = Bus Capacitor OK
9 = Shunt Thermal Switch OK
10 = Home & Registration 1
11 = Motor Thermostat OK
12 = Pre-Charge OK
13 = AC Line Contactor OK
14 = Bus Conditioner OK
15 = Converter OK
16-255 = (reserved)
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The Digital Input Configuration is an array of enumerated values that map
configurable digital inputs to specific functions of the drive axis.
Enable Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as an Enable function.
Home Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - E Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as a Home function.
Regeneration 1 Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - E Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as a Registration 1 function.
Regeneration 2 Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - E Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as a Registration 2 function.
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Positive Overtravel OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as a Positive Overtravel function.
Negative Overtravel OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as an Negative Overtravel function.
Regeneration OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as an Regeneration OK
function.
Bus Capacitor OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as a Bus Capacitor OK function.
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Shunt Thermal Switch OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
A floating point value that specifies the width of the pulse reject filter for a digital
input configured as an Shunt Thermal Switch OK function.
Home and Registration 1 Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - E Set T REAL - - - Seconds
A float that specifies the width of the pulse reject filter for a digital input
configured as a Home & Registration 1 function.
Motor Thermostat OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
The Motor Thermostat OK Input Pulse Reject Filter is A float that specifies the
width of the pulse reject filter for a digital input configured as a Motor
Thermostat function.
Pre-Charge OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
The Pre-Charge OK Pulse Reject Filter attribute is a float that specifies the width
of the pulse reject filter for a digital input configured as a Pre-Charge function.
AC Line Contactor OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
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The AC Line Contactor is a float value that specifies the width of the pulse reject
filter for a digital input configured as a AC Line Contactor OK function.
Bus Conditioner OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T REAL - - - Seconds
The Bus Conditioner OK Input Pulse Reject Filter attribute is a floating point
value that specifies the
width of the pulse reject filter for a digital input configured as a Bus Conditioner
OK function.
Converter OK Input Pulse Reject Filter
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set T REAL - - - Seconds
The Converter OK Input Pulse Reject Filter attribute is a floating point value that
specifies the width of the pulse reject filter for a digital input configured as a
Converter OK input function.
See also
CIP Axis Status Attributes on page 315
Drive Output Attributes These are the inverter output related attributes associated with a Motion Control
Axis.
Output Frequency
Usage Access T Data Default Min Max Semantics of Values
Type
Required - F Get/GSV T REAL - - - Hertz
Optional - C
The Output Frequency attribute is the time averaged output frequency applied to
motor. Frequency value is in terms of electrical cycles.
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Output Current
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T REAL - - - Amps (RMS)
The Output Current attribute is the total time averaged output current applied to
motor.
Output Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T REAL - - - Volts (RMS)
The Output Voltage attribute is the total time averaged phase-to-phase output
voltage applied to motor.
Output Power
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T REAL - - - Power Units
The Output Power attribute is the mechanical output power of the motor. This
value represents the product of applied motor torque/force and motor speed. If
the axis is configured for Frequency Control, the Velocity Feedback signal is
derived from the Velocity Reference signal.
See also
Drive General Purpose I/O Attributes on page 334
Power and Thermal Management Configuration Attributes on page 342
Power and Thermal These are the power and thermal configuration related attributes associated with a
Motion Control Axis.
Management Configuration
Attributes
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Motor Overload Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV USINT 0 - - Enumeration
0 = None (R)
1 = Current Foldback (O)
2...127 = Reserved
128...255 = Vendor specific
The Motor Overload Action attribute selects the device's response to a motor
overload condition based on an I2T or motor thermal model based overload
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 I2T
overload protection method, the motor overload condition occurs when the
motor current, in percent of rated continuous motor current, exceeds the Motor
Overload Limit. The Motor Overload Action provides opportunities to mitigate
the overload condition without stopping operation.
Motor Overload Action functionality is independent of the motor overload
exception action functionality.
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 motor current command in proportion to the percentage
difference between Motor Capacity and the Motor Overload Limit,, or in the case
of the I2T overload protection method, in proportion to the difference between
the motor current, in percent of rated continuous motor current, and the Motor
Overload Limit.
Inverter Overload Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV USINT 0 - - Enumeration
0 = None (R)
1 = Current Foldback (O)
2...127 = Reserved
128...255 = Vendor Specific
128 = Reduce PWM Rate
129 = PWM - Foldback
The Inverter Overload Action attribute selects the device's response to an inverter
overload condition based on an I2t or inverter thermal model based overload
protection method. When an inverter thermal model is employed the inverter
overload alarm condition occurs when the inverter thermal model indicates that
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the Inverter Capacity has exceeded the Inverter Overload Limit. In the case of the
I2T overload protection method, the inverter overload condition occurs when the
inverter current, in percent of rated continuous inverter current, exceeds the
Inverter Overload Limit.
The Inverter Overload Action provides opportunities to mitigate the overload
condition without stopping operation. Inverter Overload Action functionality is
independent of the motor overload exception action functionality.
An overload alarm condition can also be generated by exceeding the limits of the
device's power block thermal model that includes switching losses that have a
dependency on the PWM Frequency.
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
I2T overload protection method, in proportion to the difference between the
inverter current, in percent of rated continuous inverter current, and the Inverter
Overload Limit.
If an inverter overload condition occurs due to the power block thermal model,
two additional overload actions can be applied. Selecting Reduce PWM Rate can
be used to reduce heat generated by switching losses in the inverter power
structure. When PWM - Foldback is selected the device first reduces the PWM
rate and then, if necessary, reduces the Inverter Thermal Current Limit.
See also
Power and Thermal Management Status Attributes on page 344
Power and Thermal These are the power and thermal management status related attributes associated
with a Motion Control Axis.
Management Status
Attributes Motor Overload Protection Method
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV T USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
The Motor Overload Protection Method attribute is an enumerated value
indicates what motor overload protection method is being used by the CIP
Motion device.
Thermal Model motor overload protection applies the measured motor current to
an internal motor thermal model to detect a motor overload condition.
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I2T Overload motor overload protection applies an I2T calculation once the motor
current exceeds the product of the Motor Overload Limit and the Motor Rated
Continuous Current that indicates a motor overload condition.
Inverter Overload Protection Method
Usage Access T Data Default Min Max Semantics of Values
Type
Optional- BD Get/GSV T USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
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.
I2T Overload inverter overload protection applies an I2T calculation once the
inverter current exceeds the product of the Inverter Overload Limit and the
Inverter Rated Continuous Current that indicates an inverter overload condition.
Converter Overload Protection Method
Usage Access T Data Default Min Max Semantics of Values
Type
Optional- BD Get/GSV T USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
This enumerated value indicates what converter overload protection method is
being used by the CIP Motion device.
Thermal Model converter overload protection applies the measured converter
current to an internal converter thermal model to detect a converter overload
condition.
I2T Overload converter overload protection applies an I2T calculation once the
converter current exceeds the converter overload current limit that indicates a
converter overload condition.
Bus Regulator Overload Protection Method
Usage Access T Data Default Min Max Semantics of Values
Type
Optional- BD Get/GSV T USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
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This enumerated value indicates what bus regulator overload protection method is
being used by the CIP Motion device.
Thermal Model converter overload protection applies the measured bus regulator
current to an internal bus regulator thermal model to detect a bus regulator
overload condition.
I2T Overload bus regulator overload protection applies an I2T calculation once the
bus regulator current exceeds the factory set bus regulator overload current limit
that indicates a bus regulator overload condition.
Motor Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T 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. A value of 100% would indicate that the motor is being used at 100% of
rated capacity as determined by the continuous current rating of the motor.
If the drive device applies I2T overload protection rather than thermal model
based overload protection, the Motor Capacity value is zero until the motor
current exceeds the product of the Motor Overload Limit and the Motor Rated
Continuous Current. Once in an overload condition the Motor Capacity
increases from 0 according to the I2T calculation. A value of 100% in this case
indicates that the drive has used up 100% of the motor's I2T overload capacity.
The motor overload protection method applied by the drive device is indicated by
the Motor Overload Protection Method attribute.
Inverter Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T REAL - - - % Inverter Rated
The Inverter Capacity attribute is the real-time estimate of the continuous rated
inverter thermal capacity utilized during operation based on the inverter thermal
model. A value of 100% would indicate that the inverter is being used at 100% of
rated capacity as determined by the continuous current rating of the inverter. If
the drive device applies I2T overload protection rather than thermal model based
overload protection, the Inverter Capacity value is zero until the inverter current
exceeds the product of the factory set Inverter Overload Limit and the continuous
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current rating of the inverter. Once in an overload condition the Inverter Capacity
increases from 0 according to the I2T calculation. A value of 100% in this case
indicates that the drive has used up 100% of the inverter's I2T overload capacity.
The inverter overload protection method applied by the drive device is indicated
by the Inverter Overload Protection Method attribute.
Converter Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV T REAL - - - % Converter Rated
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.
If the CIP Motion device applies I2T overload protection rather than thermal
model based overload protection, the Converter Capacity value is zero until the
converter current exceeds its factory set overload current rating. Once in an
overload condition the Converter Capacity increases from 0 according to the I2T
calculation. A value of 100% in this case indicates that the converter has used up
100% of its I2T overload capacity.
The converter overload protection method applied by the device is indicated by
the Converter Overload Protection Method attribute.
Bus Regulator Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV T REAL - - - % Regulator Rated
The Bus Regulator Capacity attribute is the real-time estimate of the continuous
rated bus regulator thermal capacity utilized during operation based on the bus
regulator thermal model. A value of 100% would indicate that the bus regulator is
being used at 100% of rated capacity as determined by the continuous current
rating of the bus regulator.
If the CIP Motion device applies I2T overload protection rather than thermal
model based overload protection, the Bus Regulator Capacity value is zero until
the bus regulator current exceeds its factory set overload current rating. Once in an
overload condition the Bus Regulator Capacity increases from 0 according to the
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I2T calculation. A value of 100% in this case indicates that the bus regulator has
used up 100% of its I2T overload capacity.
The bus regulator overload protection method applied by the device is indicated
by the Bus Regulator Overload Protection Method attribute.
Converter Temperature
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - B Get/GSV T REAL - - - Degrees C
The Converter Temperature attribute is the measured temperature of the power
block in the power structured of the converter.
Converter Temperature Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - B Get/GSV T REAL - - - %
The Converter Temperature Capacity attribute is power block temperature of the
converter. It is a percentage of the maximum operational temperature range of the
power block. A 100% value indicates the converter power block is at 100% of the
rated temperature range.
Define Converter Overtemperature Capacity as:
% = (T-Tmin)(Tmax-Tmin)
Where,
T=Power block temperature
Tmin-=Minimum rated power block temperature
Tmax=Maximum rated power block temperature
Converter Heatsink Temperature
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - Degrees C
The Converter Heatsink Temperature Capacity attribute is the power structure
heatsink temperature of the converter. It is a percentage of the maximum
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operational temperature range of the converter heatsink. A 100% value indicates
the heatsink of the converter is 100% of the rated temperature range.
Define Converter Heatsink Overtemperature Capacity as:
% = (T-Tmin)(Tmax-Tmin)
Where,
T = Heatsink temperature
Tmin = Minimum rated heatsink temperature
Tmax = Maximum rated heatsink temperature
Converter Heatsink Temperature Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - B Get/GSV T REAL - - - Degrees C
The Converter Heatsink Temperature Capacity attribute is the converter power
structure heatsink temperature as a percentage of maximum operational
temperature range of the heatsink of the converter. A 100% value indicates the
converter heatsink is 100% of the rated temperature range.
Define Converter Heatsink Overtemperature Capacity as:
% = (T-Tmin)/(Tmax-Tmin)
Where,
T=Heatsink temperature
Tmin = Minimum rated heatsink temperature
Tmax=Maximum rated heatsink temperature
AC Line 1 Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Converter Rated
The AC Line Capacity is the real-time estimate of the continuous rated converter
thermal capacity for AC Line (Phase R) utilized during operation based on the
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converter thermal model. A 100% value indicates the converter components on
Line 1 use 100% of the rated thermal capacity for this phase.
If the CIP Motion device applies I2T overload protection instead of thermal
model based overload protection, the AC Line 1 Capacity value remains zero until
the converter current exceeds its factory set overload current rating.
Once in an overload condition, the AC Line 1 Capacity increases from 0
according to the I2T calculation. A 100% value indicates the converter has used
100% of its I2T overload capacity for this phase.
The converter overload protection method applied by the device is indicated by
the Converter Overload Protection Method attribute.
AC Line 2 Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Converter Rated
The AC Line 2 Capacity attribute is a real-time estimate of the continuous rated
converter thermal capacity for AC Line 2 (Phase S) utilized during operation
based on the converter thermal model. A 100% value indicates the converter
components on Line 2 are used at 100% of the rated thermal capacity for this
phase.
If the CIP Motion device applies to I2T overload protection rather than
thermal-model based overload protection, the AC Line 2 Capacity value is zero
until the converter current exceeds its factory set overload current rating. Once in
an overload condition, the AC Line 2 Capacity increases from 0 according to the
I2T calculation.
A 100% value indicates the converter used up 100% of the I2T overload capacity
for this phase.
The converter overload protection method applied by the device is indicated by
the Converter Overload Protection Method attribute.
AC Line 3 Capacity
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Converter Rated
The AC Line 2 Capacity attribute is a real-time estimate of the continuous rated
converter thermal capacity for AC Line 3 (Phase T) utilized during operation
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based on the converter thermal model. A 100% value indicates the converter
components on Line 3 are used at 100% of the rated thermal capacity for this
phase.
If the CIP Motion device applies to I2T overload protection rather than
thermal-model based overload protection, the AC Line 3 Capacity value is zero
until the converter current exceeds its factory set overload current rating. Once in
an overload condition, the AC Line 3 Capacity increases from 0 according to the
I2T calculation.
A 100% value indicates the converter used up 100% of the I2T overload capacity
for this phase.
The converter overload protection method applied by the device is indicated by
the Converter Overload Protection Method attribute.
Converter Overload Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Converter Rated
The Converter Overload Limit attribute is a factory-set maximum limit for
Converter Capacity. Exceeding the limit triggers the selected Converter Overload
action. If the drive applies an I2T converter overload protection method, then
exceeding the specified Converter Overload Limit results in an overload condition
and activates I2T overload protection. While the converter is overloaded, the
Converter Capacity attribute value increases, indicating how much of the
converters available I2T overload capacity is utilized. When Converter Capacity
reaches 100% of its rated capacity, the drive can trigger a Converter Overload
Action. When employing an overload protection method based on a converter
thermal model, the
Converter Capacity attribute value represents how much of the converter’s rated
thermal capacity, associated with the converter thermal model, has been utilized.
Once the Converter Capacity value exceeds the Converter Overload Limit, the
drive can optionally trigger a predetermined Converter Overload Action.
The Converter Overload Limit can also be used by the drive to determine the
absolute thermal capacity limit of the converter, i.e. the Converter Thermal
Overload Factory Limit, which if exceeded, generates an Converter Thermal
Overload FL exception. The configured Converter Overload Limit also applies to
Converter L1, L2, and L3 Capacity, any of which are exceeded also results in a
Converter Thermal Overload FL exception.
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Motor Overload Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D Set/GSV T USINT - - - % Converter Rated
Selects the device's response to a motor overload condition based on an I2T or
motor thermal model based overload 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 I2T overload protection method, the
motor overload condition occurs when the motor current, in percent of rated
continuous motor current, exceeds the Motor Overload Limit.
The Motor Overload Action provides opportunities to mitigate the overload
condition without stopping operation. Motor Overload Action functionality is
independent of the motor overload exception action functionality.
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 motor current in proportion to the percentage difference
between Motor Capacity and the Motor Overload Limit, or in the case of the I2T
overload protection method, in proportion to the difference between the motor
current, in percent of rated continuous motor current, and the Motor Overload
Limit.
Inverter Overload Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D Set/GSV T USINT 0 - - Enumeration:
0 = None (R)
1 = Current Foldback (O)
2-127 = (reserved)
128-255 = (vendor specific
Selects the device response to an inverter overload alarm condition based on an
I2T or inverter thermal model-based overload protection method. When
employing an inverter thermal model, the inverter overload alarm condition
occurs when the inverter thermal model indicates the Inverter Capacity is
exceeding the Inverter Overload Limit.
For the I2T overload protection method, the inverter overload condition occurs
when the inverter current exceeds the Inverter Overload Limit. The inverter
current is measured in percent of rated continuous inverter current.
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The Inverter Overload Action enables mitigating the overload condition without
stopping operation. Inverter Overload Action functionality is independent of the
motor overload exception action functionality. Also generate an overload alarm
condition by exceeding the limits of the device power block thermal model that
includes switching losses that depend on the PWM Frequency. Also generate an
overload alarm condition by exceeding the limits of the device power block
thermal model that includes switching losses that have a dependency.
The device in the overload condition takes no action if None is the overload
action. Selecting the Current Foldback action reduces the inverter current in
proportion to the percentage difference between Inverter Capacity and the
Inverter. Overload Limit, or in the case of the I2T overload protection method, in
proportion to the difference between the inverter current, in percent of rated
continuous inverter current, and the Inverter Overload Limit.
If an inverter overload condition occurs due to the power block thermal model,
two additional overload actions can be applied. Selecting Reduce PWM Rate can
be used to reduce heat generated by switching losses in the inverter power
structure. When PWM –Foldback is selected the device first reduces the PWM
rate and then, if necessary, reduces the Inverter Thermal Current Limit.
Converter Overload Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - G Set/SSV T USINT 0 - - Enumeration:
0 = None (R)
1 = Current Foldback (O)
2-127 = (reserved)
128-255 = (vendor specific
Selects the device's response to a converter overload condition based on an I2T or
converter thermal model-based overload protection method. When a converter
thermal model is employed, the converter overload condition occurs when the
converter thermal model indicates that theConverter Capacity has exceeded the
Converter Overload Limit. In the case of the I2T overload protection method, the
converter overload condition occurs when the converter current, in percent of
rated continuous converter current, exceeds the Converter Overload Limit.
The Converter Overload Action provides opportunities to mitigate the overload
condition without stopping operation. Converter Overload Action functionality
is independent of the converter overload exception action functionality. An
overload alarm condition can also be generated by exceeding the limits of the
device’s power block thermal model that includes switching losses that have a
dependency on the PWM Frequency. 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 converter current
in proportion to the percentage difference between Converter Capacity and the
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Converter Overload Limit, or in the case of the I2T overload protection method,
in proportion to the difference between the converter current, in percent of rated
continuous converter current, and the Converter Overload Limit. In addition to
the configured Converter Overload Action being triggered by a Converter
Overload condition, the configured Converter Overload Action can also be
triggered by Converter L1, L2, or L3 Overload conditions.
See also
Power and Thermal Management Configuration Attributes on page 342
Drive Commissioning and The attribute tables contain attributes associated with auto-tuning and test
services applied to a Motion Control Axis Object instance. These attributes are
Tuning Attributes unique to the controller and do not require replication in the Motion Control
Device Axis Object.
Auto-Tune Configuration These are the attributes that are associated with auto-tune configuration of a
Motion Control Axis.
Attributes
System Damping
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 1 0.5 2.0
(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
(DMTC) and then calculates and updates the applicable loop gain attribute
values. The System Damping attribute is designed to be used to implement a single
'knob' Manual Tuning procedure.
A larger damping factor increases the ratio between the inner and outer Loop
Bandwidths. In general, the System Damping attribute controls the dynamic
response of the overall control loop.
• Position Loop Operation
If the drive is configured for Position Loop operation, the following
calculation is performed and the resulting value applied to the System
Bandwidth attribute:
System Bandwidth = 1/16 Damping Factor4 * 1/DMTC
• Velocity Loop Operation
If the drive is configured for Velocity Loop operation the following
calculation is applied:
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System Bandwidth = 1/4 Damping Factor2 * 1/DMTC
• Load Coupling
If the Load Coupling is a 'Compliant' selection and the Use Load Ratio bit
is set in the Gain Tuning Configuration Bits attribute, then the resultant
System Bandwidth above is divided by the Load Ratio value.
System Bandwidth /= (Load Ratio + 1)
• System Bandwidth Value
In addition to updating the System Bandwidth value, the equations
associated with setting the System Bandwidth value are also run.
The value for this attribute can also be updated using the Damping Factor
attribute. When derived from the Damping Factor attribute, no
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. When derived from the Damping Factor attribute, no
calculations are performed; the System Damping attribute value is simply updated.
A Set or SSV to the System Damping attribute also updates the Damping Factor
attribute value.
System Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 0 0 Loop Bandwidth Units
(Derived from
Servo Bandwidth)
A Set or SSV to the System Bandwidth attribute value calculates and updates the
applicable loop gain attribute values based on the current System Damping (Z).
The System Bandwidth attribute is designed to be used to implement a single
'knob' Manual Tuning procedure. If the drive is configured for Velocity Loop
operation, the System Bandwidth is equivalent to the bandwidth of the velocity
loop. If the drive is configured for Position Loop operation, the System Bandwidth
is equivalent to the bandwidth of the position loop. In addition to calculating and
updating the Loop Bandwidth attribute values, an update to this attribute also
updates the Integral Bandwidth attributes as well as the Feedforward attributes
according to the Gain Tuning Configuration Bits setting.
The following configurations impact the calculations for this attribute as follows:
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• Position Loop Operation
If the drive is configured for Position Loop operation the following
calculations apply:
Position Loop Bandwidth = System Bandwidth
Position Integer Bandwidth = 0.25 Damping Factor2 * System Bandwidth
Velocity Loop Bandwidth = 4 * Damping Factor2 * System Bandwidth
Velocity Integer Bandwidth = System Bandwidth
Velocity Error Tolerance = 2 * max(Max Accel, Max Decel) / Velocity Loop
Bandwidth (rad/s)
• Velocity Loop Operation
If the drive is configured for Velocity Loop operation the following
calculations apply:
Velocity Loop Bandwidth = System Bandwidth
Velocity Integer Bandwidth = 0.25/Damping Factor2 * System Bandwidth
Velocity Error Tolerance = 2 * max(Max Accel, Max Decel) / Velocity Loop
Bandwidth (rad/s)
• Load Observer Configuration
If the Load Observer Configuration setting indicates the observer function
is enabled, the following calculations are performed:
Load Observer Bandwidth = Velocity Loop Bandwidth
• Gain Tuning Configuration
If the Gain Tuning Configuration bit for Tune Torque LP Filter is set, the
following calculation is performed:
Torque LP Filter BW = 5 * Velocity Loop BW.
The System Bandwidth value can also be updated through a Set service to the
Position Servo Bandwidth or Velocity Servo Bandwidth attributes depending on
Axis Configuration. If configured for Position Loop, System Bandwidth is
updated by a set to Position Servo Bandwidth. If configured for Velocity Loop,
System Bandwidth is updated by a set to Velocity Servo Bandwidth. When derived
from either of these attributes, no calculations are performed; the System
Bandwidth attribute value is simply updated.
A Set or SSV to the System Bandwidth attribute also updates Position Servo
Bandwidth or Velocity Servo Bandwidth attributes depending on Axis
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Configuration. If configured for Position Loop, the Position Servo Bandwidth is
updated. If configured for Velocity Loop, Velocity Servo Bandwidth is updated.
Damping Factor
Usage Access T Data Default Min Max Semantics of Values
Type
Required - Set/SSV REAL FD 0.5 2.0 -
GPV
The Damping Factor attribute value is used in calculating the maximum Position
and Velocity Servo Bandwidth values during execution of the Motion Run Axis
Tune (MRAT) instruction. In general the Damping Factor attribute controls the
dynamic response of the drive axis. When gains are tuned using a small damping
factor (such as 0.7), a step response test performed on the axis would demonstrate
under-damped behavior with velocity overshoot. A gain set generated using a
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.
Position Servo Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - P Set/SSV REAL FD 0 Loop Bandwidth Units
The value for the Position Servo Bandwidth represents the unity gain bandwidth
of the position loop that is to be used by software Autotune function to calculate
the position loop gains. The unity gain bandwidth is the frequency beyond which
the position servo is unable to provide any significant position disturbance
correction. In general, within the constraints of a stable servo system, the higher
the Position Servo Bandwidth the better the dynamic performance of the system.
A maximum value for the Position Servo Bandwidth is generated by the MRAT
instruction. Computing gains based on this maximum value software Autotune
procedure results in a dynamic response in keeping with the current value of the
Damping Factor.
A set to the Position Servo Bandwidth attribute while configured for Position
Loop operation also updates the System Bandwidth attribute value to support
Manual Tuning.
Velocity Servo Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/SSV REAL FD 0 Loop Bandwidth Units
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The value for the Velocity Servo Bandwidth represents the unity gain bandwidth
of the velocity loop that is to be used by the software Autotune function to
calculate the velocity loop gains. The unity gain bandwidth is the frequency
beyond which the velocity servo is unable to provide any significant position
disturbance correction. In general, within the constraints of a stable servo system,
the higher the Velocity Servo Bandwidth is the better the dynamic performance of
the system. A maximum value for the Velocity Servo Bandwidth is generated by
the MRAT instruction. Computing gains based on this maximum value using the
software's Autotune procedure results in a dynamic response in keeping with the
current value of the Damping Factor.
A set to the Velocity Servo Bandwidth attribute while configured for Velocity
Loop operation also updates the System Bandwidth attribute value to support
Manual Tuning.
Drive Model Time Constant
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/ REAL 0.0015 10-6 1 Seconds
SSV# FD
# 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. The Drive Model Time Constant is the sum of
the drive's current loop time constant, the feedback sample period, calculation
delay, and the time constant associated with the velocity feedback filter. This value
is set by software based on the specific drive amplifier and motor feedback
selection.
Since the bandwidth of the velocity feedback filter is determined by the resolution
of the feedback device, the value for the Drive Model Time Constant is smaller
when high resolution feedback devices are selected.
Converter Model Time Constant
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Set/ REAL 0.0015 10-6 1 Seconds
SSV# FD
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The value for the Converter Model Time Constant represents lumped model time
constant for the converter’s current loop and used to calculate Bus Voltage loop
bandwidth values. The Converter Model Time Constant is the sum of the
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converter’s current loop time constant, and the calculation delay. This value is set
by software based on the specific converter selection.
(A set to the Converter Model Time Constant attribute while configured for
Active Current Control operation also updates the System Bandwidth attribute
value to support Manual Tuning.)
Application Type
Usage Access T Data Default Min Max Semantics of Values
Type
Required - PV Set/GSV USINT 1 - - Enumeration:
0 = Custom
1 = Basic
2 = Tracking
3 = Point-to-Point
4 = Constant Speed
5-255 = Reserved
This attribute specifies the type of motion control application and is used by
configuration and auto-tune software to set the Gain Tuning Configuration Bits
attribute that establishes the appropriate gain set the application.
The relationship between Application Type and Gain Tuning Configuration Bits
is described in the following tables.
The first table shows which Integrator Bandwidth values are applicable based on
the Application Type. Separate bits are defined in the Gain Tuning Configuration
Bits attribute to enable tuning of Position Integrator Bandwidth, Kpi, and
Velocity Integrator Bandwidth, Kvi. The Integrator Hold, iHold, setting applies
to any active integrators.
Application Type Kpi Kvi iHold
Custom - - -
Basic no no no
Tracking no yes no
Point-Point yes no yes
Const. Spd. no yes no
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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.
Application Type Kvff Kaff
Custom - -
Basic yes no
Tracking yes yes
Point-Point no no
Const. Spd. yes no
Finally, the Torque Low Pass Filter bit enables tuning of the Torque Low Pass
Filter Bandwidth. This bit is set for all Application Types except Custom,
Application Type Torque LP Filter
Custom -
Basic yes
Tracking yes
Point-Point yes
Const. Spd. yes
If Application Type is set to Custom, individual gain calculations can be
controlled directly by the user by changing the bit settings in the Gain Tuning
Configuration Bits attribute. If the Application Type is not Custom, these bit
settings may not be altered, thus maintaining the fixed relationship to the
Application Type as defined in the preceding tables.
Loop Response
Usage Access T Data Default Min Max Semantics of Values
Type
Required - GPV Set/GSV USINT 1 - - Enumeration:
0 = Low
1 = Medium
2 = High
3-255 = Reserved
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:
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Loop Response Damping Factor
Low 1.5
Medium 1.0
High 0.8
A High setting for Loop Response is best suited for systems that demand the
highest level of control performance. Generally these are rigid mechanical systems
with relatively light load inertia/mass, for example, Load Ratio < 3.
A Medium Loop Response setting is best suited for general purpose control
applications with modest loading, for example Load Ratio < 10. This setting can
accommodate both rigid and compliant mechanical systems.
A Low setting for Loop Response is best suited for systems that control heavy load
inertia/mass, for example, Load Ratio > 10. The heavy load inertia/mass of these
systems generally required lower position and velocity loop bandwidths to
maintain stability and minimize motor heating.
Overall system performance can be improved for a given Loop Response setting by
compensating for the load inertia/mass by setting the System Inertia value to the
Total Inertia of the mechanical system.
Load Coupling
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/GSV USINT 0 - - Enumeration:
0 = Rigid
1 = Compliant
2-255 = Reserved
The Load Coupling attribute is used by configuration and auto-tune software to
determine how the loop gains are derated based on the current Load Ratio. In high
performance applications with relatively low Load Ratio values or rigid mechanics,
typically no derating is applied. For applications with relatively high Load Ratios
and compliant mechanics, derating the loop gains based on the Load Ratio is
recommended. The derating simply divides the nominal loop bandwidth values by
a factor of the Load Ratio + 1.
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Gain Tuning Configuration Bits
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/ WORD 1 - - Bit Field
SSV# Bits 4-7 0 = Run Inertia Test
FD 1 = Use Load Ratio
2 = Reserved
3 = Reserved
4 = Tune Pos Integrator
5 = Tune Vel Integrator
6 = Tune Vel Feedforward
7 = Tune Accel Feedforward
8 = Tune Toque LP Filter
9...15 = Reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This Gain Tuning Configuration Bits attribute value is a bit field attribute that
controls the loop gain-tuning calculations.
Bits 4-7 may not be updated programmatically by SSV instruction unless the
Application Type is set to Custom.
The following table provides detailed descriptions for the bits of this attribute:
Bit Name Description
Run Inertia Test This bit determines whether or not the MRAT tuning instruction will send a Test
Inertia service to the drive to perform an inertia measurement. If this bit is set
the Inertia Test will be performed. If the bit is clear, the MRAT will immediately
complete without an inertia measurement.
Use Load Ratio This bit determines if Load Ratio is used in calculating Total Inertia and System
Bandwidth calculations. If this bit is set, Load Ratio will be used in these
calculations. If this bit is clear, Load Ratio will not have any impact on Total
Inertia or System Bandwidth.
Tune Position Integrator The Tune Position Integrator bit attribute determines whether or not the
auto-tuning algorithm calculates a value for the Position Integrator Bandwidth.
If this bit is clear (false) the value for the Position Integrator Bandwidth is set to
zero, disabling the integrator.
Tune Velocity Integrator The Tune Velocity Integrator bit attribute determines whether or not tuning
algorithms calculate a value for the Velocity Integrator Bandwidth. If this bit is
clear (false) the value for the Velocity Integrator Bandwidth is set to zero,
disabling the integrator.
Tune Velocity Feedforward The Tune Velocity Feedforward bit attribute determines whether or not tuning
algorithms calculate a value for the Velocity Feedforward Gain. If this bit is clear
(false) the value for the Velocity Feedforward Gain is set to zero.
Tune Acceleration Feedforward The Tune Acceleration Feedforward bit attribute determines whether or not
tuning algorithms calculate a value for the Acceleration Feedforward Gain. If
this bit is clear (false) the value for the Acceleration Feedforward Gain is set to
zero.
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Bit Name Description
Tune Torque LP Filter The Tune Torque LP Filter bit attribute determines whether or not tuning
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.
See also
Motor Test Status Attributes on page 373
Hookup Test Configuration Attributes on page 363
Inertia Test Configuration Attributes on page 366
Hookup Test Configuration These are the attributes that are associated with hookup test configuration applied
to a Motion Control Axis.
Attributes
Hookup Test Distance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Set/ REAL 1 0 maxpos Position Units
SSV*
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The Hookup Test Distance attribute is used by the Hookup Test service to
determine the amount of motion that is necessary to satisfy selected hookup test
process.
Hookup Test Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - !E Set/ REAL 10 0 Seconds
SSV*
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The Test Time attribute is used by the Hookup Test service to determine the
duration of motion that is necessary to satisfy selected Hookup Test process. This
value is typically set to around 10 seconds.
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Hookup Test Feedback Channel
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Set/ USINT 1 1 2 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).
The Test Feedback Channel attribute is used by the Hookup Test service when
the 'Feedback' test is selected to determine which feedback channel to test.
See also
Motor Test Result Attributes on page 373
Inertia Test Result Attributes on page 370
Hookup Test Result Attributes on page 364
Inertia Test Configuration Attributes on page 366
Auto-Tune Configuration Attributes on page 354
Hookup Test Result Attributes These are the attributes that are associated with hookup result status applied to a
Motion Control Axis
Hookup Test Status
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All 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 = Test Failed - no feedback 1
counts
6 = Test Failed - no feedback 2
counts
7...255 = Reserved
The Hookup Test Status attribute returns status of the last Run Hookup Test
service on the targeted drive axis. The Hookup Test Status attribute can be used to
determine when the hookup test service has successfully completed. Conditions
may occur, however, that make it impossible for the drive to properly perform the
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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 T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV REAL - - - Electrical Degrees
PM
The Hookup Test Commutation Offset reports the measured commutations
offset of a PM motor during the Commutation Test. This represents the value
that will be applied to the motor position accumulator in order to align the
Electrical Angle signal with motor stator windings. This value can be used to
configure the Commutation Offset attribute.
Hookup Test Commutation Polarity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV USINT - - - Enumeration
PM 0 = Normal
1 = Inverted
2...255 = Reserved
The Hookup Test Commutation Polarity reports if the UVW phasing of the
Encoder or Hall Sensor match the phasing of the Motor. If the motor and UVW
commutation phasing do not match the Commutation Polarity is Normal. If it is
determined that the phasing for the motor and commutation device do not match,
this parameter reports that the Commutation Polarity is Inverted. This value can
be used to configure the Commutation Polarity attribute.
Hookup Test Feedback 1 Direction
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV USINT - - - Enumeration
0 = Positive
1 = Negative
2...255 = Reserved
The Hookup Test Feedback 1 Direction attribute reports the direction of axis
travel during the last hookup test as seen by the drive's feedback 1 device. A value
of 0 (positive) indicates that the direction of motion as observed by the drive's
feedback 1 device was positive, for example, increasing counts. Note that the value
for Hookup Test Feedback 1 Direction, as determined by the hookup test, does
not depend on the current feedback, motor, or motion polarity attribute
configuration. This value, combined with the user's definition of forward
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direction, can be used to configure the various polarity attributes for the correct
directional sense.
Hookup Test Feedback 2 Direction
Usage Access T Data Default Min Max 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
travel during the last hookup test as seen by the drive's feedback 2 device. A value
of 0 (positive) indicates that the direction of motion as observed by the drive's
feedback 2 device was positive, for example, increasing counts. Note that the value
for Hookup Test Feedback 2 Direction, as determined by the hookup test, does
not depend on the current feedback, motor, or motion polarity attribute
configuration. This value, combined with the user's definition of forward
direction, can be used to configure the various polarity attributes for the correct
directional sense.
See also
Motor Test Result Attributes on page 373
Inertia Test Result Attributes on page 370
Hookup Test Configuration Attributes on page 363
Inertia Test Configuration Attributes on page 366
Auto-Tune Configuration Attributes on page 354
Inertia Test Configuration These are the attributes that are associated with inertia test configuration applied
to a Motion Control Axis.
Attributes
Tuning Select
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# USINT 0 - - Enumeration
0 = Total Inertia
1 = Motor Inertia
2...255 = Reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
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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. If set to 'total inertia', the measured inertia is applied to the
Total Inertia attribute or Total Mass attribute.
Tuning Direction
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# USINT 0 - - Enumeration
0 = Unidirectional Forward
1 = Unidirectional Reverse
2 = Bidirectional Forward
3 = Bidirectional Reverse
4...255 = Reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This enumerated value determines the direction of the motion profile initiated by
the Inertia Test service associated with the Motion Run Axis Tuning (MRAT)
instruction.
Tuning Travel Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# REAL 0 0 maxpos Position Units
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Tuning Travel Limit attribute is used by the Inertia Test service, associated
with the MRAT instruction, to limit the excursion of the axis during the test. If,
while performing the Inertia Test motion profile, the drive determines that the
axis will not be able to complete the profile before exceeding the Tuning Travel
Limit, the drive will terminate the profile and report that the Tuning Travel Limit
was exceeded through the Tune Status attribute. This does not mean that the
Tuning Travel Limit was actually exceeded, but that had the tuning process gone
to completion that the limit would have been exceeded.
Tuning Speed
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# REAL 0 0 Position Units / Sec
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
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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. Thus, the accuracy of the measured
acceleration and deceleration capability is reduced by tuning at a speed other than
the desired operating speed of the system.
Tuning Torque
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# REAL 100 0 % Rated
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Tuning Torque attribute value determines the maximum torque used by the
Inertia Test service initiated motion profile. This attribute will be set to the
desired maximum safe torque level prior to running the test. The default value is
100%, which yields the most accurate measure of the acceleration and deceleration
capabilities of the system. In some cases a lower tuning torque limit value may be
desirable to limit the stress on the mechanics during the tuning procedure. In this
case the acceleration and deceleration capabilities of the system are extrapolated
based on the ratio of the tuning torque to the maximum torque output of the
system. Note that the extrapolation error increases as the Tuning Torque value
decreases.
Load Ratio
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# REAL 0 0 Rotary Motor:
DB Load Ratio = (total inertia /
motor inertia) - 1.
Linear Motor:
Load Ratio = (total mass / motor
mass) - 1.
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Load Ratio attribute's value represents the ratio of the load inertia or mass to
the motor inertia or mass.
The value for Load Ratio may be known by the user or may be measured as part of
a software initiated Autotune process.
When Use Load Ratio bit is set in the Gain Tuning Configuration Bits attribute,
configuration software uses the value of Load Ratio to compute Total
Inertia/Mass and System Inertia attributes.
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The Load Ratio value may also be used in calculations associated with System
Damping attribute.
Total Inertia
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# REAL FD 0 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.
Total Mass
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV# REAL FD 0 Mass Units
(Linear Motor)
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
Total Mass represents the combined mass of the linear motor and load in
engineering units.
Total DC Bus Capacitance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Set/SSV# REAL FD 0 F
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
Total DC Bus Capacitance attribute represents the combined capacitance of the
regenerative converter and external DC Bus capacitance.
External DC Bus Capacitance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Set/SSV# REAL 0 0 F
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
External DC Bus Capacitance represents the combined capacitance of all the
external devices that share the DC Bus output of the regenerative converter.
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See also
Motor Test Result Attributes on page 373
Hookup Test Result Attributes on page 364
Hookup Test Configuration Attributes on page 363
Inertia Test Result Attributes on page 370
Auto-Tune Configuration Attributes on page 354
Inertia Test Result Attributes These are the attributes that are associated with inertia result status applied to a
Motion Control Axis.
Tune Status
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV INT - - - 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
7 = Tune Measurement Error
8 = Tune Configuration Error
The Tune Status attribute returns status of the last run Inertia Test service that
initiates a process on the targeted drive axis. The Tune Status attribute can, thus,
be used to determine when the Inertia Test initiated operation has successfully
completed. Conditions may occur, however, that make it impossible for the drive
to properly perform the operation. When this is the case, the Inertia Test process
is automatically aborted and a failure reported that is stored in the Tune Status
output parameter.
Tune Acceleration Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV REAL - - - Seconds
The Tune Acceleration Time attribute returns acceleration time in seconds for the
last successful Inertia Test service. This value is used to calculate the Tune
Acceleration attribute.
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Tune Deceleration Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV REAL - - - Seconds
The Tune Deceleration Time attribute returns deceleration time in seconds of the
last successful Inertia Test service. This value is used to calculate the Tune
Deceleration attribute.
Tune Acceleration
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV REAL - - - Position Units / Sec2
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. The Tune Acceleration value represents the
estimated acceleration at the configured torque limit of the system.
Tune Deceleration
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Get/GSV REAL - - - Position Units / Sec2
The Tune Deceleration attribute returns the measured peak deceleration 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 Deceleration attribute. The Tune Acceleration value represents the
estimated deceleration at the configured torque limit of the system.
Tune Inertia Mass
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 0 0 % Motor Rated / (Motor
Units/Sec2)
The Tune Inertia Mass value represents the estimated inertia or mass for the axis
as calculated from the measurements made during the last Motion Run Axis Tune
(MRAT) initiated tuning process. This value may also be set directly by software
tuning tools or programmatically.
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Tune Friction
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 0 0 % Rated
This floating point value represents the amount of friction measured during the
last successful Inertia Test profile. This value can be used to configure the Friction
Compensation feature of the drive. This value may also be set directly by software
tuning tools or programmatically.
Tune Load Offset
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 0 - % 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. This value may also be set
directly by software tuning tools or programmatically.
Load Inertia Ratio
Usage Access T Data Default Min Max Semantics of Values
Type
Required - C Set/SSV REAL 0 0 Load Inertia / Motor Inertia
This floating point value represents the load ratio calculated by MRAT based on
the measurements made during the last successful Inertia Test profile. The Load
Inertia Ratio attribute's value represents the ratio of the load inertia to the motor
inertia. Or in the case of a linear motor, the load mass over the motor mass. This
value can be used to set the Load Ratio attribute value as part of an Autotune
process. This value may also be set directly by software tuning tools or
programmatically.
See also
Motor Test Status Attributes on page 373
Hookup Test Status Attributes on page 364
Hookup Test Configuration Attributes on page 363
Inertia Test Configuration Attributes on page 366
Auto-Tune Configuration Attributes on page 354
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Motor Test Result Attributes These are the attributes that are associated with result status applied to a Motion
Control Axis.
Motor Test Status
Usage Access T Data Default Min Max 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
on the targeted drive axis. The Motor Test Status attribute can be used to
determine when the motor test service has successfully completed. Conditions
may occur, however, that make it impossible for the drive to properly perform the
operation. When this is the case, the test process is automatically terminated and a
test error is reported that is stored in the Motor Test Status output parameter.
Motor Test Resistance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Ohms
This floating point value represents the stator resistance of an induction or
permanent magnet motor as measured by the Motor Test procedure.
Motor Test Inductance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Henries
This floating point value represents the motor inductance of an induction or
permanent magnet motor as measured by the Motor Test procedure.
Motor Test Flux Current
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Amps
IM Only
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This floating point value represents the motor flux current of an induction motor
as measured by the Motor Test procedure.
Motor Test Slip Speed
Usage Access T Data Default Min Max 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.
Motor Test Counter EMF
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Volts
PM Only
This floating point value represents the measured Counter EMF (CEMF) of a PM
motor at Rated Speed by the Motor Test procedure.
Motor Test Lq Inductance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Henries
IPM Only
This floating point value represents the phase-to-phase q-axis motor inductance
measured by the Motor Test procedure.
Motor Test Ld Inductance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Henries
IPM Only
This floating point value represents the phase-to-phase d-axis motor inductance
measured by the Motor Test procedure.
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Motor Test Lq Flux Saturation
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL [8] - - - % Nominal Inductance
IPM Only
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.
Motor Test Ld Flux Saturation
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - % Nominal Inductance
IPM Only
This floating point value represents the phase-to-phase d-axis stator inductance of
the motor as measured by the Motor Test procedure expressed as a percentage of
the measured Nominal Inductance, Ld, at 100% rated continuous current.
Motor Test Bus Overvoltage Speed
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - RPM (rotary motor type)
IPM Only m/s (linear motor type)
This floating point value represents the maximum speed of the motor without
exceeding the operational DC bus overvoltage limit, as determined by the Motor
Test procedure.
Motor Test Commutation Offset Comp
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV REAL - - - Electrical Degrees
IPM Only
This floating point value represents the change in motor Commutation Offset at
rated continuous current as measured by the Motor Test procedure.
See also
Hookup Test Result Attributes on page 364
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Inertia Test Result Attributes on page 370
Hookup Test Configuration Attributes on page 363
Inertia Test Configuration Attributes on page 366
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. APR Faults are conditions
that can occur during the device initialization process when trying to restore the
absolute position of an axis. Unlike Initialization Faults, these faults are
recoverable and may be cleared with a Fault Reset request.
CIP APR Faults
Data
Usage Access T Default Min Max Semantics of Values
Type
Optional - E Get/GSV T WORD - - - Bit map:
0 = Reserved
1 = Memory Write Error
2 = Memory Read Error
3 = Feedback Serial Number
Mismatch
4 = Buffer Allocation Fault
5 = Scaling Configuration Changed
6 = Feedback Mode Changed
7 = Feedback Integrity Loss
8-15 = Reserved
The CIP APR Faults attribute is a bit mapped value that represents the state of all
standard 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. APR faults are detected during the initial configuration or
initialization of the drive axis.
When an APR fault occurs, the actual position of the axis is no longer correlated
to the position of the axis prior to the power cycle, reset, or reconnect. Examples of
standard APR faults are feedback serial number mismatch, and scaling
configuration change. APR faults are recoverable and can be cleared with a Fault
Reset request.
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CIP APR Faults - RA
Data
Usage Access T Default Min Max Semantics of Values
Type
Optional - E Get/GSV T WORD - - - Bit map:
0 = Reserved
1 = Persistent Media Fault
2 = Firmware Error
3 = Feedback Battery Loss
4-15 = Reserved
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. APR faults are detected during the
initial configuration or initialization of the drive axis. When an APR fault occurs,
the actual position of the axis is no longer correlated to the position of the axis
prior to the power cycle, reset, or reconnect. These faults are specific to Rockwell
Automation APR implementation. APR faults are recoverable and can be cleared
with a Fault Reset request.
Standard APR Faults
The following table defines a list of standard faults associated with the APR Faults
attribute.
Standard APR Fault Descriptions
Bit Exception Name Description
0 -- Reserved -- This bit cannot be used since the Fault Code is defined by the associated
exception bit number and Fault Code of 0 means no fault condition is present.
1 Memory Write Error Error in saving absolute position data to NV memory.
2 Memory Read Error Error in reading absolute position data from NV memory.
3 Feedback Serial Number Position Feedback Serial Number does not match saved Feedback Serial
Mismatch Number.
4 Buffer Allocation Fault Caused when there is not enough RAM memory left to save APR data.
5 Scaling Configuration Scaling attribute configuration for this axis has changed and does not match the
Changed saved scaling configuration.
6 Feedback Mode Changed Feedback Mode has changed and does not match the saved Feedback Mode
configuration.
7 Feedback Integrity Loss The Feedback Integrity bit of CIP Axis Status attribute has transitioned from 1 to
0 during device operation.
8-15 -- Reserved --
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Rockwell Automation Specific APR Faults
The following table defines a list of Rockwell Automation specific faults associated
with the APR Faults-RA attribute.
Bit Exception Name Description
0 -- Reserved -- This bit cannot be used since the Fault Code is defined by the associated
exception bit number and Fault Code of 0 means no fault condition is present.
1 Persistent Media Fault (L6x) - Means that all 6 sectors reserved for APR in Persistent Memory (for
example, NAND flash) are marked as bad. This is not a recoverable fault
condition.
2 Firmware Error Used to trap firmware errors that should never happen.
3 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. The naming conventions for the tag names are to
remove the spaces from the fault bit name and then append the "APRFault" suffix.
For example "Memory Write Error" becomes "MemoryWriteErrorAPRFault".
See also
Absolute Position Recovery Functionality on page 49
APR Recovery Scenarios on page 54
Axis Exception Action These configuration attributes control the action performed by the device as a
result of an exception condition. A unique exception action is defined for each
Configuration Attributes
supported exception condition.
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CIP Axis Exception Action
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set USINT [64] 4 (D) - - Enumeration for Drive Modes (D)
2 (E) 0 = Ignore (O)
4 (B) 1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)
4 = Disable (R)
5 = Shutdown (R)
Enumeration for Feedback Only
(E)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (R)
3 = N/A
4 = N/A
5 = Shutdown (R)
Enumeration for Bus Power
Converters (B)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Disable (R)
5 = Shutdown (R)
6...254 = Reserved
255 = Unsupported (O)
The CIP Axis Exception Action attribute is a 64-element array of enumerated
bytes that specifies the action for the associated standard axis exception.
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CIP Axis Exception Action 2
Data
Usage Access Default Min Max Semantics of Values
Type
Required - G Set USINT [64] 4 (D) - - Enumeration for Drive Modes (D)
Optional - NED 2 (E) 0 = Ignore (O)
4 (B) 1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)
4 = Disable (R)
5 = Shutdown (R)
Enumeration for Feedback Only
(E)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (R)
3 = N/A
4 = N/A
5 = Shutdown (R)
Enumeration for Bus Power
Converters (B)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Disable (R)
5 = Shutdown (R)
6...254 = Reserved
255 = Unsupported (O)
The CIP Axis Exception Action 2 attribute is a 64-element array of enumerated
bytes that specifies the action for the associated standard axis exception.
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CIP Axis Exception Action - RA
Data
Usage Access Default Min Max Semantics of Values
Type
Required - All Set USINT 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 = Disable (R)
5 = Shutdown (R)
Enumeration for Feedback Only
(E)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (R)
3 = N/A
4 = N/A
5 = Shutdown (R)
Enumeration for Bus Power
Converters (B)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Disable (R)
5 = Shutdown (R)
6...254 = Reserved
255 = Unsupported
The CIP Axis Exception Action attribute is a 64-element array of enumerated
bytes that specifies the action for the associated Rockwell Automation specific axis
exception.
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CIP Axis Exception Action 2 - RA
Data
Usage Access Default Min Max Semantics of Values
Type
Required - G Set USINT [64] 4 (D) - - Enumeration for Drive Modes (D)
Optional - NED 2 (E) 0 = Ignore (O)
4 (B) 1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)
4 = Disable (R)
5 = Shutdown (R)
Enumeration for Feedback Only
(E)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (R)
3 = N/A
4 = N/A
5 = Shutdown (R)
Enumeration for Bus Power
Converters (B)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Disable (R)
5 = Shutdown (R)
6...254 = Reserved
255 = Unsupported
The CIP Axis Exception Action 2 attribute is a 64-element array of enumerated
bytes that specifies the action for the associated Rockwell Automation specific axis
exception.
See also
Axis Exception Action on page 382
Axis Exception Action The Axis Exception Action attributes are 64-element array of enumerated bytes
that specify the action to take by the device for the associated standard or
manufacturer specific exception, respectively. For a given exception, certain
exception actions may not be supported. Attempting to do so results in an "Invalid
Attribute Value" service error code (0x09). Each device product must specify the
available actions for each exception that is supported. If a specific exception is not
supported by the device, the only valid exception action enumeration is
'Unsupported'. Attempting to write any other value to the element associated with
an unsupported exception results in an "Invalid Attribute Value" service error code
(0x09) that is generated while the project is online with the controller. For drives
that support Rockwell Automation specific axis exceptions, the 64-element CIP
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Axis Exception Action - RA and CIP Axis Exception Action 2 - RA arrays ares
sent to the drive device.
Axis Exception Action Definitions
Enum. Usage Name Description
0 Optional Ignore Ignore instructs the device to completely ignore the exception
condition. For some exceptions that are fundamental to the
operation of the axis, it may not be possible to Ignore the condition.
1 Optional Alarm Alarm action instructs the device to set the associated bit in the Axis
Alarm word but to otherwise not impact axis behavior. For some
exceptions that are fundamental to the operation of the device, it
may not be possible to select this action or any other action that
leaves device operation unaffected.
2 Optional (BD) Fault Status Only Fault Status Only instructs the device to set the associated bit in the
Required (E) Axis Faults word but to otherwise not impact axis behavior. It is up
to the controller to programmatically bring the axis to a stop in this
condition. For some exceptions that are fundamental to the
operation of the device, it may not be possible to select this action
or any other action that leaves device operation unaffected.
Converters (B) executing a Fault Status Only exception action
continue to supply DC Bus Power and do not set the DC Bus Unload
bit in Axis Status attribute and therefore do not disable drives in the
converter's Bus Sharing Group.
3 Optional (FPV) Stop Planner Stop Planner instructs the drive device (D) to set the associated bit
in the Axis Faults word and instructs the Motion Planner to perform
a controlled stop of all planned motion at the configured Max Decel
rate. For some exceptions that are fundamental to the operation of
the device, it may not be possible to select this action or any other
action that leaves device enabled.
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Enum. Usage Name Description
4 Required (BD) Disable Disable action results in the drive device (D) both setting the
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" stopping method includes both the method of decelerating
the motor to a stop and the final state of the power structure given
the expected level of control still available. The level of axis control
available depends on the specific exception condition and on the
configured control mode.
The available deceleration methods are defined by the Stopping
Action attribute. (See the Stopping Action section following this
table for additional information.)
If the application requires exception action that is a more severe
stopping action than the factory set "best" method, the controller
will initiate that action.
If the application requires an exception action that is less severe
than the factory set "best" method, the controller will configure the
device axis instance for a Minor Fault exception action and handle
the fault directly. This may put device and motor components at risk
and is only be allowed by the device when there is an opportunity
for the device to remain operational. This is important in
applications where the value of the product is higher than the value
of the motor or device.
When the Disable exception action is applied to a converter device
(B), stopping action is not applicable (0 = No Action). The final
states of Disable or Shutdown for the converter are applicable,
however, with Shutdown executing the configured Shutdown
Action. In the Shutdown case, the DC Bus Unload bit of the
converter's Axis Status attribute is set to generate a Bus Sharing
exception on all drives in the converter's Bus Sharing Group.
When multiple major faults occur with different stopping actions,
the most severe of the associated stopping actions is applied, that
is, the stopping action that requires the lowest level of control
functionality. This rule also applies to the Stopping Action
associated with a Disable Request.
5 Required (All) Shutdown While the final axis state after a Major Fault is the Major Faulted
state, the Shutdown Exception Action forces the power structure
into the Shutdown state, immediately disabling the drive's power
structure. If Shutdown Action is configured to do so, this action also
drops DC Bus power to the drive's power structure. Therefore, the
Shutdown action overrides the drive's best stopping method. An
explicit Shutdown Reset is required to restore the drive to an
operational state.
6-254 Reserved -
255 Unsupported The Unsupported Exception Action is the value assigned to
Exceptions that are not supported by the device. Trying to assign an
Exception Action other than Unsupported to an exception that is not
supported by the device results in an "Invalid Attribute Value"
service error code (0x09).
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Stopping action
Standard stopping actions, listed in decreasing levels of deceleration control, are as
follows:
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. Hold (stopped with Holding Torque)
2. Disable (stopped with Power Structure Disabled)
3. Shutdown (stopped with Shutdown Action)
The "best" final state of the power structure is the state with the most control
functionality still available given the exception condition.
In all these final states a fault reset must be executed before the axis can be restored
to enabled operation and commanded to move.
If a Start Inhibit condition is present at the time of the exception, the best final
state for the exception action can only be Disable or Shutdown.
The specific stopping action and final state associated with a given Disable
exception action is captured in the Axis Fault Action attribute that is included in
the Fault Log record. Axis Fault Action enumerations are as follows:
Enumeration Description
Stop Action Enumerations 0 = No Action
1 = (reserved)
2 = Ramped Stop
3 = Torque Limited Stop
4 = Coast
State Change Enumerations 0 = No Action
1 = Hold
2 = Disable
3 = Shutdown
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See also
Axis Exception Action Configuration Attributes on page 378
Exceptions on page 47
Exception, Fault and Alarm Attributes on page 405
Stopping and Braking Attributes on page 556
Configuration Fault Attributes These are the configuration fault related attributes associated with a Motion
Control Axis.
Attribute Error Code
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - All Get/GSV T INT - - - Refer to CIP Error Codes
CIP Error code returned by the erred set list service to the module.
Attribute Error ID
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - All Ger/GSV T INT - - -
Attribute ID associated with non-zero Attribute Error Code.
See also
CIP Error Codes on page 386
Exception, Fault, and Alarm Attributes on page 405
Identify Motion Axis Attributes Based on Device Function Codes on page
102
CIP Error Codes These are general CIP error codes that can be returned by the Attribute Error
Code.
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CIP Error Codes
Error Code Error Name Description of Error
(hex)
00 Success Service was successfully performed by the object specified.
01 Connection failure A connection related service failed along the connection
path.
02 Resource unavailable Resources needed for the object to perform the requested
behavior were unavailable. Further object specific
information should be supplied in the object specific status
field of the response.
03 Invalid value in object specific data A portion of the data supplied as an object specific data
parameter of a service request parameter of a service was invalid. The verification of the
data is specified in the object definition of the object
reporting the error.
04 IOI segment error The IOI segment identifier or the segment syntax was not
understood by the processing node. The word offset to the
first segment of the IOI that is not understood should be
supplied in the first word of the object specific status field of
the response. The offset is zero based and calculated from the
first word following the IOI Size in the message IOI processing
stops when an IOI segment error is encountered.
05 IOI destination unknown The IOI is referencing an object class, instance or structure
element that is not known or is not contained in the
processing node. The word offset to the first segment
component that references something that is unknown or
not present in the processing node should be supplied in the
first word of the object specific status field of the response.
The offset is zero based and calculated from the first word
following the IOI Size in the message. IOI processing stops
when an IOI destination unknown error is encountered.
06 Partial transfer Only part of the expected data was transferred.
07 Connection lost The messaging connectionErrpr was lost.
08 Unimplemented service The service requested was not implemented or defined for
this class or instance object.
09 Invalid attribute value The value of an attribute of the object or class is invalid. The
object specific status should report the attribute number and
the status code of the first attribute refusing data.
0A Attribute list error An attribute in the Get_Attribute_List or Set_Attribute_List
response has a non–zero status.
0B Already in requested mode/state The object is already in the mode/state being requested by
the service. The object specific status should report the
object's current status.
0C Object cannot perform service in its The object cannot perform the requested service in its current
current mode/state mode/state. The object specific status should report the
object's current status. For example, this error would be
returned if a Transfer Service request was sent to the NVS
Object before a Update Service request was received since the
Update Service is required before data can be sent using the
Transfer Service.
0D Object already exists The requested instance of object to be created already exists.
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Error Code Error Name Description of Error
(hex)
0E Attribute value not settable The object attribute is not a settable attribute. The object
specific status should report the number of the attribute
refusing data.
0F Access permission does not allow The access permissions do not allow the object to perform
service the service. The access permissions available to the object
should be reported in the extended status.
10 Device's mode/state does not allow The device containing the object does not allow the object to
object to perform service perform the service in the device's current mode/state. The
object specific status should report the device's current
status. For example, a controller may have a key switch
which when set to the 'hard run' state causes Service
Requests to several different objects to fail, for example,
program edits. This error code would then be returned.
11 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.
12 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.
13 Not enough data The service did not supply enough data to perform the
specified operation.
14 Undefined attribute The attribute specified is not defined for the class or object.
15 Too much data The service supplied more data than was expected
(depending on the service and the object, the service may
still be processed).
16 Object does not exist The object specified does not exist in the device.
17 Service fragmentation sequence not The fragmentation sequence for this service is not currently
currently in progress active for this data.
18 No stored attribute data The attribute data of this object was not saved prior to the
requested service.
19 Store operation failure The attribute data of this object was not saved due to some
failure during the attempt.
1A Bridging failure, request packet too The service request packet was too large for transmission on
large for network a network in the path to the destination. The bridge device
was forced to abort the service.
1B Bridging failure, response packet too The service response packet was too large for transmission on
large for network a network in the path from the destination. The bridge device
was forced to abort the service.
1C Missing attribute list entry data The service did not supply an attribute in a list of attributes
that was needed by the service to perform the requested
behavior.
1D Invalid attribute value list The service is returning the list of attributes supplied with
status information for those attributes that were invalid.
1E Embedded service error An embedded service resulted in an error.
1F Connection Related Failure A service failed because of an error condition related to the
processing of a connection related service. This can occur
during connected and unconnected messaging. The same
extended status codes used for General Status Error Code 01
are returned for this error's extended status.
20 Invalid Parameter Obsolete.
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Error Code Error Name Description of Error
(hex)
21 Write–once value or medium already An attempt was made to write to a write-once medium (for
written example, WORM drive, PROM) that has already been written,
or to modify a value that cannot be changed once
established.
22 Invalid Reply Received An invalid reply is received, for example, reply service code
does not match the request service code, or reply message is
shorter than the minimum expected reply size. This error
code can serve for other causes of invalid replies.
23 CST not coordinated The Coordinated System Time (CST) value is not yet within
the tolerance where it can accept an update. Try again.
24 Connection Scheduling Error Obsolete.
25 Key Failure in IOI The Key Segment which was included as the first segment in
the IOI does not match the destination module. The object
specific status will indicate which part of the key check failed.
26 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.
27 Unexpected attribute in list An attempt was made to set an attribute that cannot be set
at this time.
28 DNet Invalid Member ID See DeviceNet specification for details:
http://www.odva.org/.
29 DNet Member not settable See DeviceNet specification for details:
http://www.odva.org/.
32D No Matching Ingress Rule This extended status code is returned when a request is
rejected due to failure to match an ingress rule.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
32E Ingress Rule Deny This extended status code is returned when a request is
rejected due to matching an ingress rule with action DENY.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
32F Ingress Rule Deny Non_Secure This extended status code is returned when a request is
rejected due to matching an ingress rule with action
ALLOW_INGRESS_SECURE, but the request was through a
non CIP Security port.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
330 No Matching Egress Rule This extended status code is returned when a request is
rejected due to failure to match an egress rule.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
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Error Code Error Name Description of Error
(hex)
331 Egress Rule Deny This extended status code is returned when a request is
rejected due to matching an egress rule with action DENY.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
332 Egress Rule Cipher Not Allowed This extended status code is returned when a request is
rejected due to matching an egress rule with action ALLOW,
but the CIPHER_LIST does not include an allowed cipher
suite.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
900 (D)TLS ALERT 0: Close Notify 1 One side of the (D)TLS connection has requested that the
connection be closed.
Check that the model matches the actual communications
flow.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
901 (D)TLS ALERT 10: Unexpected Message Check that the model matches the actual communications
flow.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
902 (D)TLS ALERT 20: Bad Record MAC Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
903 (D)TLS ALERT 22: Record Overflow Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
904 (D)TLS ALERT 30: Decompression Please contact technical support.
Failure Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
905 (D)TLS ALERT 40: Handshake Failure Check the configuration.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
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Error Code Error Name Description of Error
(hex)
906 (D)TLS ALERT 42: Bad Certification Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
907 (D)TLS ALERT 43: Unsupported Please contact technical support.
Certificate Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
908 (D)TLS ALERT 44: Certificate Revoked Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
909 (D)TLS ALERT 45: Certificate Expired Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
90A (D)TLS ALERT 46: Certificate Unknown Check the model to see if it matches actual comms flow. If so,
contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
90B (D)TLS ALERT 47: Illegal Parameter Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
90C (D)TLS ALERT 48: Unknown CA Check that the model matches the actual communication
flow.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
90D (D)TLS ALERT 49: Access Denied Check that the module matches actual communication flow.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
90E (D)TLS ALERT 50: Decode Error Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
90F (D)TLS ALERT 51: Decrypt Error Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
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Error Code Error Name Description of Error
(hex)
910 (D)TLS ALERT 70: Protocol Version Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
911 (D)TLS ALERT 71: Insufficient Security For the cipher suites configured in the module, check that
every target for an originator has a matching cipher suite
allowed.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
912 (D)TLS ALERT 80: Internal Error Please contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
913 (D)TLS ALERT 86: Inappropriate Please contact technical support.
Fallback Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
914 (D)TLS ALERT 110: Unsupported Please contact technical support.
Extension Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
915 (D)TLS ALERT: Unknown PSK Identity Check that the module matches actual communication flow.
If so, contact technical support.
Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
916-9FF CIP Security session error Verify that the correct device is addressed and that the
project configuration includes devices supported by the CIP
Security Policy. If this error persists, contact the security
administrator or technical support.
2A - CF Reserved for future system use This range of error codes has been reserved for future system
use.
D0 - FF Reserved for future system use This range of error codes has been reserved for use by object
and class specific services, or for development before
registration.
See also
Configuration Fault Attributes on page 386
Exception Factory Limit Info These are the exception limit related attributes associated with a Motion Control
Axis. Exception Limit attributes define the conditions under which a
Attributes
corresponding exception is generated during motion axis operation that has the
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CIP Axis Attributes Chapter 4
potential of generating either a fault or alarm. They are typically associated with
temperature, current, and voltage conditions of the device that are continuous in
nature. Factory Limits (FL) for exceptions are usually hard coded in the device and
typically result in a major fault condition. User Limits (UL) for exceptions are
configurable and typically used to generate a minor fault, or alarm condition. For
this reason, the User Limits are generally set inside the corresponding Factory
Limits. Note that the triggering of a User Limit exception does not preclude
triggering of the corresponding Factory Limit exception; the two exception trigger
conditions are totally independent of one another.
Rotary Motor Overspeed Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Get REAL - - - RPM
Returns the Factory Limit for the Motor Overspeed Factory Limit exception
based on a factory set value determined by the Rotary Motor Rated Speed or
Rotary Motor Max Speed attribute values, or by operational speed limits enforced
by the drive vendor. The drive may take the minimum of any of these values as the
Factory Limit.
When PM Motor Rotary Bus Overvoltage Speed and PM Motor Rotary Max
Extended Speed attributes are supported and non-zero, the drive uses these values
to determine the Rotary Motor Overspeed Factory Limit. The PM Motor
Extended Speed Permissive value determines which limit to apply. If the PM
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.
For Rockwell Automation drives, when PM Motor Extended Speed Permissive is
False, the Motor Overspeed Factory Limit = 1.25 * Bus Overvoltage Speed, or the
speed limit corresponding to the Bus Overvoltage Factory Limit, whichever is less.
When PM Motor Extended Speed Permissive is True, the Motor Overspeed
Factory Limit = 1.25 * Max Extended Speed value.
The Operational Speed Limit on all Rockwell Automation drive products is 600
Hz. The following formula is used to calculate the operational speed limit:
Operational Speed Limit (RPM) = 590 (Hz) * 120 / Rotary Motor Poles
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Linear Motor Overspeed Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Get REAL - - - m/s
Returns the Factory Limit for the Motor Overspeed Factory Limit exception
based on a factory set value determined by the Linear Motor Rated Speed or
Linear Motor Max Speed attribute values, or by operational speed limits enforced
by the drive vendor. The drive may take the minimum of any of these values as the
Factory Limit.
When PM Motor Linear Bus Overvoltage Speed and PM Motor Linear Max
Extended Speed attributes are supported and non-zero, the drive uses these values
to determine the Linear Motor Overspeed Factory Limit. The PM Motor
Extended Speed Permissive value determines which limit to apply. If the PM
Motor Extended Speed Permissive is False, the Linear Motor Overspeed Factory
Limit will be based on the PM Motor Linear Bus Overvoltage Speed. If the PM
Motor Extended Speed Permissive is True, the Linear Motor Overspeed Factory
Limit will be based on the PM Motor Linear Max Extended Speed value.
For Rockwell Automation drives, when PM Motor Extended Speed Permissive is
False, the Motor Overspeed Factory Limit = 1.25 * Bus Overvoltage Speed, or the
speed limit corresponding to the Bus Overvoltage Factory Limit, whichever is less.
When PM Motor Extended Speed Permissive is True, the Motor Overspeed
Factory Limit = 1.25 * Max Extended Speed value.
Motor Overtemperature Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Get REAL - - - C
The Motor Overtemperature Factory Limit attribute returns the Factory Limit
for the Motor Overtemperature FL exception based on a factory set value related
to the Motor Max Winding Temperature of the motor.
Motor Thermal Overload Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Get REAL - - - % Motor Rated
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The Motor Thermal Overload Factory Limit attribute returns the Factory Limit
for the Motor Thermal Overload FL exception based on a factory set value related
to the Motor Overload Limit rating.
Inverter Overtemperature Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Get REAL - - - C
The Inverter Overtemperature Factory Limit returns the Factory Limit for the
Inverter Overtemperature FL exception.
Inverter Thermal Overload Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Get REAL - - - % Inverter Rated
The Inverter Thermal Overload Factory Limit returns the Factory Limit for the
Inverter Thermal Overload FL exception based on a factory set value related to the
Inverter Overload Limit rating.
Converter Overtemperature Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - C
The Converter Overtemperature Factory Limit attribute returns the Factory
Limit for the Converter Overtemperature FL exception.
Converter Thermal Overload Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - % Converter Rated
The Converter Thermal Overload Factory Limit returns the Factory Limit for the
Converter Thermal Overload FL exception.
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Converter Ground Current Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - Amps
The Converter Ground Current Factory Limit attribute returns the Factory Limit
for the Converter Ground Current FL exception.
Bus Regulator Overtemperature Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - C
The Bus Regulator Overtemperature Factory Limit returns the Factory Limit for
the Bus Regulator Overtemperature FL exception.
Bus Regulator Thermal Overload Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - % Regulator Rated
The Bus Regulator Thermal Overload Factory Limit attribute returns the Factory
Limit for the Bus Regulator Thermal Overload FL exception.
Bus Overvoltage Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - Volts
The Bus Overvoltage Factory Limit returns the Factory Limit for the Bus
Overvoltage FL exception.
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Bus Undervoltage Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - Volts
Returns the Factory Limit for the Bus Undervoltage FL exception.
Feedback Noise Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Get UDINT - - - Noise Counts
Feedback Signal Loss Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Get REAL - - - % Nominal Voltage
The Feedback Signal Loss Factory limit attribute returns the Factory Limit for the
Feedback Signal Loss FL exception.
Feedback Data Loss Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Get UDINT - - - Consecutive Lost Data Packets
The Feedback Data Loss Factory Limit attribute returns the Factory Limit for the
Feedback Data Loss FL exception.
Control Module Overtemperature Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - All Get REAL - - - C
The Control Module Overtemperature Factory Limit returns the Factory Limit
for the Control Module Overtemperature FL exception.
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Converter Pre-Charge Overload Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Get REAL - - - % Converter Rated
The Converter Pre-Charge Overload Factory Limit returns the Factory Limit for
the Converter Pre-Charge Overload FL exception.
AC Line Overvoltage Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - % Rated
The AC Line Overvoltage Factory Limit attribute returns the factory set high
voltage limit as a percent of Converter Rated Input Voltage for the AC line source.
AC Line Undervoltage Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - % Rated
The AC Line Undervoltage Factory Limit attribute returns the factory set low
voltage limit as a percent of Converter Rated Input Voltage for the AC line source.
AC Line Overvoltage Factory Limit - Alternate
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - % Rated
The AC Line Overvoltage Factory Limit -Alternate attribute returns the
factory-set high voltage limit as a percent of Converter Rated Input Voltage for
the alternate AC line source.
AC Line Undervoltage Factory Limit - Alternate
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - % Rated
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The AC Line Undervoltage Factory Limit - Alternate returns the factory set low
voltage limit as a percent of Converter Rated Input Voltage for the alternate AC
line source.
AC Line High Freq Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - Hertz
The AC Line High Freq Factory Limit attribute returns the factory-set high
frequency limit as the difference from the nominal AC line frequency.
AC Line Low Freq Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - Hertz
The AC Line Low Freq Factory Limit attribute returns the factory set low
frequency limit as the difference from the nominal AC line frequency.
AC Line High Freq Factory Limit - Alternate
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - Hertz
The AC Line High Freq Factory Limit - Alternate attribute Returns the factory
set high frequency limit
as the difference from the nominal alternate AC line source frequency.
AC Line Low Freq Factory Limit - Alternate
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - Hertz
Returns the factory set low frequency limit as the difference from the nominal
alternate AC line source frequency.
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Converter Heatsink Overtemp Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - C
The Converter Heatsink Overtemp Factory Limit returns the Factory Limit for
the regenerative converter power structure heatsink temperature. Exceeding this
value generates a Converter Overtemperature FL exception.
AC Line Overload Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - % Converter Rated
The AC Line Overload Factory Limit attribute Returns the Factory Limit for
Line 1, 2, and 3 components as a percent of their rated thermal capacity.
Exceeding this value generates a Converter Thermal Overload FL exception.
AC Line Resonance Factory Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Get REAL - - - % Converter Rated
The AC Line Resonance Factory Limit attribute Returns the Factory Limit for
the AC Line Resonance FL exception as a percentage of the Converter Output
Rated Current. The AC Line Resonance FL exception occurs when the current
flowing through the AC line filter in the resonant frequency band, exceeds the
factory limit for vendor specified period.
See also
Exceptions on page 47
Exception User Limit Configuration Attributes on page 401
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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 Min Max Semantics of Values
Type
Optional - D Set/SSV REAL 5 0 100 % Motor Rated
Sets the minimum motor phase current for the Motor Phase Loss exception. The
current in each motor phase must exceed this value during the motor phase loss
test or a Motor Phase Loss exception occurs. Decreasing this attribute's value
lowers sensitivity to phase loss conditions. A value of 0 will effectively disable the
motor phase loss test.
Motor Overspeed User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV REAL FD 0 % Motor Rated
Sets the Overspeed User Limit relative to the Rotary Motor Rated Speed or Linear
Motor Rated Speed that is allowable before throwing a Motor Overspeed UL
exception.
Motor Thermal Overload User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV REAL 110 0 % Motor Rated
Sets User Limit for the Motor Thermal Overload UL exception.
Inverter Thermal Overload User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set/SSV REAL 110 0 % Inverter Rated
Sets User Limit for the Inverter Thermal Overload UL exception.
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Converter Overtemperature User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 C
Sets User Limit for the Converter Overtemperature UL exception.
Converter Thermal Overload User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 % Converter Rated
Sets User Limit for the Converter Thermal Overload UL exception.
Converter Ground Current User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 % Factory Limit
Sets User Limit for the Converter Ground Current UL exception.
Converter Pre-Charge Overload User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 % Converter Rated
Sets User Limit for the Converter Pre-Charge Overload UL exception.
Feedback Noise User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set/SSV UDINT 1 1 231 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.
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Feedback Signal Loss User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set/SSV REAL 100 0 % FL Voltage Drop
Sets User Limit for the Feedback Signal Loss UL exception. Feedback interface
hardware typically monitor average voltage levels on incoming signals. Feedback
Signal Loss conditions occur when the average voltage levels drop below a
percentage of voltage drop allowed by the Feedback Signal Loss Factory Limit.
Feedback Data Loss User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set/SSV UDINT 4 1 231 Consecutive Lost Data Packets
Sets User Limit for the Feedback Data Loss UL exception. For digital feedback
devices, feedback interface hardware monitors the integrity of data transferred
over the serial connection to the feedback device. Feedback Data Loss conditions
occur when two or more consecutive data packets are lost or corrupted.
AC Line Overvoltage User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 110 0 % Rated
Sets the high voltage limit as a percent of Converter Rated Input Voltage for the
AC line source.
AC Line Undervoltage User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 100 % Rated
Sets the low voltage limit as a percent of Converter Rated Input Voltage for the
AC line source.
AC Line Overvoltage User Limit - Alternate
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 110 0 % Rated
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Sets the high voltage limit as a percent of Converter Rated Input Voltage for the
alternate AC line source.
AC Line Undervoltage User Limit - Alternate
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 100 % Rated
Sets the low voltage limit as a percent of Converter Rated Input Voltage for the
alternate AC line source.
AC Line High Freq User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0.4 0 Hertz
Sets the high frequency limit as the difference from the nominal AC line
frequency.
AC Line Low Freq User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0.7 - 0 Hertz
Sets the low frequency limit as the difference from the nominal AC line frequency.
AC Line High Freq User Limit - Alternate
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0.4 0 Hertz
Sets the high frequency limit as the difference from the nominal alternate AC line
source frequency.
AC Line Low Freq User Limit - Alternate
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0.7 - 0 Hertz
Sets the low frequency limit as the difference from the nominal alternate AC line
source frequency.
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Converter Heatsink Overtemperature User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 125 0 C
Sets a User Limit for the regenerative converter power structure heatsink
temperature. Exceeding this value generates a Converter Overtemperature UL
exception.
AC Line Overload User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 110 0 % Converter Rated
Sets a User Limit for thermal overload of Line 1, 2, and 3 components as a percent
of their rated thermal capacity. Exceeding this value generates a Converter
Thermal Overload UL exception.
AC Line Resonance User Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 12 0 100 % Converter Rated
Sets the User Limit for the AC Line Resonance UL exception based on a
percentage of the Converter Output Rated Current. The AC Line Resonance UL
exception occurs when the current flowing through the AC line filter in the
resonant frequency band, exceeds the user limit for a vendor specified period.
See also
Exceptions on page 47
Exception, Fault, and Alarm Attributes on page 405
Standard Exceptions on page 623
Exception, Fault and Alarm These are the exception, fault, and alarm related attributes associated with a
Motion Control Axis. Exceptions are conditions that can occur during axis
Attributes
operation that have the potential of generating faults or alarms based on the
Exception Action configuration.
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CIP Axis Faults
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/GSV T 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. Fault bits when set are
latched until a fault reset occurs. A fault reset clears the runtime fault bits, but the
bits set again immediately if the underlying exception condition is still present.
Any exceptions whose CIP Axis Exception Action is configured to ignore or
report as alarms do not appear in this attribute.
CIP Axis Faults 2
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T LWORD - - - Refer to Standard Exceptions
Optional - NED
This attributes provides a 64-bit extension to the CIP Axis Faults attribute bit
map representing the state of all standard runtime faults. This bit map is identical
to that of the CIP Axis Exceptions 2 attribute. Fault bits when set are latched until
a fault reset occurs. A fault reset clears the runtime fault bits, but the bits set
again immediately if the underlying exception condition is still present.
Any exceptions whose CIP Axis Exception Action is configured to ignore or
report as alarms do not appear in this attribute.
CIP Axis Faults - RA
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/GSV T LWORD - - - Refer to Rockwell Automation
Specific Exceptions
A bit map that represents the state of all Rockwell Automation specific runtime
faults. Fault bits when set are latched until a fault reset occurs. A fault reset clears
the runtime fault bits, but the bits set again immediately if the underlying
exception condition is still present. Any exceptions whose CIP Axis Exception
Action is configured to ignore or report as alarms do not appear in this attribute.
CIP Axis Faults 2 - RA
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T LWORD - - - Refer to Rockwell Automation
Optional - NED Specific Exceptions
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This attributes provides a 64-bit extension to the CIP Axis Faults 2 attribute bit
map that represents the state of all Rockwell Automation specific runtime faults.
Fault bits when set are latched until a fault reset occurs. A fault reset clears the
runtime fault bits, but the bits set again immediately if the underlying exception
condition is still present. Any exceptions whose CIP Axis Exception Action is
configured to ignore or report as alarms do not appear in this attribute.
CIP Axis Alarms
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - All Get/GSV T LWORD - - - Refer to Standard Exceptions
A bit map that represents the current state of all standard alarm conditions. The
bit map is identical to that of the CIP Axis Exceptions attribute. 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.
Alarm bits when set are not latched and will clear as soon as the underlying
exception condition is corrected.
CIP Axis Alarms 2
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - All Get/GSV T LWORD - - - Refer to Standard Exceptions
This attributes provides a 64-bit extension to the CIP Axis Alarms attribute bit
map representing the current state of all standard alarm conditions. The bit map is
identical to that of the CIP Axis Exceptions attribute. Only exception conditions
whose CIP 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. Alarm bits
when set are not latched and will clear as soon as the underlying exception
condition is corrected.
CIP Axis Alarms - RA
Usage Access T Data Default Min Max Semantics of Values
Type
Optional- All Get/GSV T LWORD - - - Refer to Rockwell Automation
Specific Exceptions
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. Alarm bits when set are not latched and will clear
as soon as the underlying exception condition is corrected.
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CIP Axis Alarms 2 - RA
Usage Access T Data Default Min Max Semantics of Values
Type
Optional- All Get/GSV T LWORD - - - Refer to Rockwell Automation
Specific Exceptions
This attributes provides a 64-bit extension to the CIP Axis Alarms 2 RA attribute
bit map that represents the current state of all Rockwell Automation specific
alarm conditions. Only exception conditions whose CIP 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. Alarm bits when set are not latched and will clear
as soon as the underlying exception condition is corrected.
See also
Exceptions on page 47
Module Node Fault and Alarm Attributes on page 411
Standard Exceptions on page 623
Rockwell Automation Specific Exceptions on page 634
Initialization Faults Attributes These are the initialization fault related attributes associated with a Motion
Control Axis. Initialization Faults are conditions that can occur during the device
initialization process that prevent normal operation of the device.
CIP Initialization Faults
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Refer to Standard Initialization
Faults
A bit map that represents the state of all standard initialization faults. These faults
prevent any motion, and do not have configurable fault actions. Examples of
initialization faults are corrupted memory data, calibration errors, firmware
startup problems, or an invalid configuration attribute value. Initialization faults
cannot be cleared with a Fault Reset service, although a power-cycle provides a
new attempt at initialization.
CIP Initialization Faults - RA
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Refer to Rockwell Automation
Specific Initialization Faults
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A bit map that represents the state of all Rockwell Automation specific
initialization faults. These faults prevent any motion, and do not have
configurable fault actions. Examples of initialization faults are corrupted memory
data, calibration errors, firmware startup problems, or an invalid configuration
attribute value. Initialization faults cannot be cleared with a Fault Reset service,
although a power-cycle provides a new attempt at initialization.
See also
Rockwell Automation Specific Initialization Faults on page 409
Standard Initialization Faults on page 409
Standard Initialization Faults This table defines a list of standard faults associated with the Initialization Faults
attribute.
Standard Initialization Fault Descriptions
Bit Exception Description
0 Reserved This bit cannot be used since the Fault Code is defined by the associated
exception bit number and Fault Code of 0 means no fault condition is
present.
1 Boot Block Checksum Fault Checksum or CRC error for Boot Block of CIP Motion device detected as part
of Self-Test.
2 Main Block Checksum Fault Checksum or CRC error for Main Block of CIP Motion device detected as part
of Self-Test.
3 Nonvolatile Memory Checksum Checksum or CRC error for NV Memory of CIP Motion device detected as part
Fault of Self-Test.
4...31 Reserved
See also
Rockwell Automation Specific Initialization Faults on page 409
Initialization Faults Attributes on page 408
Standard Start Inhibits on page 576
Rockwell Automation Specific This table defines a list of Rockwell Automation specific faults associated with the
Initialization Faults Initialization Faults-RA attribute.
Rockwell Automation Specific Initialization Faults Bit Descriptions
Bit Exception Description
0 Reserved This bit cannot be used since the Fault Code is defined by the
associated exception bit number and Fault Code of 0 means no fault
condition is present.
1 Feedback Data Corruption Smart Encoder Data Corruption detected.
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Bit Exception Description
2 Feedback Data Range Data within a motor data blob is out of range.
3 Feedback Communication Startup Communications with a smart encoder could not be established.
4 Feedback Absolute Overspeed Excessive speed was detected in the battery-backed encoder while
power was off.
5 Feedback Absolute Power Off Travel The power-off travel range of the battery-backed encoder has been
exceeded.
6 Feedback Absolute Startup Speed The absolute encoder was not able to accurately determine the
position after power-up due to speed greater than 100 RPM.
7 Commutation Offset Uninitialized The commutation offset stored in a third-party motor has not been
initialized.
8 Reserved -
9 Reserved -
10 Reserved -
11 Reserved -
12 Invalid FPGA Image The FPGA image is incompatible with hardware operation.
13 Invalid Board Support Package The board support package is incompatible with hardware operation.
14 Invalid Safety Firmware The safety firmware is not compatible with the drive firmware, or the
main safety firmware is missing.
15 Power Board Power Board checksum error.
16 Illegal Option Card The Main Control Board has detected an illegal option installed in the
port.
17 Option Storage Checksum Option data storage checksum failed.
18 Reserved -
19 Module Voltage Mismatch IAM detects a voltage rating mismatch on the modular backplane.
20 Unknown Module Unknown module is detected on the modular backplane.
21 Factory Configuration Error Factory Configuration Data is missing or invalid.
22 Illegal Address Invalid Ethernet IP Address configuration or device Node Address is
out of range (>254).
23 Series Mismatch SERCOS AMs have been detected by the CIP IAM.
24 Open Slot IAM detects an open slot on the modular backplane.
25-31 Reserved -
See also
Rockwell Automation Specific Exceptions on page 634
Rockwell Automation Specific CIP Axis Alarm Names on page 637
Rockwell Automation Specific CIP Axis Fault Names on page 636
Rockwell Automation Specific Start Inhibits on page 578
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Module/Node Fault and Alarm These are the module/node fault and alarm related attributes associated with a
Motion Control Axis.
Attributes
Module Fault Bits
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Bitmap
0 = Control Sync Fault
1 = Module Sync Fault
2 = Timer Event Fault
3 = Module Hard Fault
4 = Reserved
5 = Reserved
6 = Reserved
7 = Conn. Format Fault
8 = Local Mode Fault
9 = CPU Watchdog Fault
10 = Clock Jitter Fault
11 = Cyclic Read Fault
12 = Cyclic Write Fault
13 = Clock Skew Fault
14 = Control Conn. Fault
15 = Reserved
16 = Module Clock Sync Fault
17 = Logic Watchdog
18 = Duplicate Address
19...31 = Reserved
This bit field is a roll-up of module scoped fault conditions that can include
synchronization faults detected on either side of the CIP Motion connection. All
defined Node Fault Codes are mapped into bits in this attribute. The controller
generally applies a shutdown fault action when a Module Fault occurs and
recovery generally requires module reconnection or reconfiguration.
The following table defines a list of conditions associated with the Module Fault
Bits attributes. While the Module Fault Bits attribute is marked as Required in the
CIP Motion device implementation, support for each of the individual fault
conditions therein is left Optional. In this table the terms motion module and
motion device are used synonymously.
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Bit Module Fault Device Node Fault Description
Name Name
0 Control Sync Fault - The Control Sync Fault bit attribute is set when the Logix
controller detects that several consecutive connection
updates from the motion module have been missed. This
condition results in the automatic shutdown of the
associated motion module. The Logix controller is
designed to "ride-through" a maximum of four missed
position updates without issuing a fault or adversely
impacting motion in progress. Missing more than four
position updates in a row constitutes a problematic
condition that warrants shutdown of the motion module.
This bit is cleared when the connection is reestablished.
1 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. This condition results in
the automatic shutdown of the motion module. The
motion module is designed to "ride-through" a maximum
of missed or late updates without issuing a fault or
adversely impacting motion in progress. Missed or late
update that exceed the Controller Update Delay High
Limit result in the Module Sync Fault condition. This bit is
cleared when the connection is reestablished.
2 Timer Event Fault - The Timer Event Fault bit attribute is set when the
associated motion module has detected a problem with
the module's timer event functionality used to
synchronize the motion module's control loops. The Timer
Event Fault bit can only be cleared by reconfiguration or
power cycle of the motion module.
3 Module Hard Fault Hardware Fault If the Module Hardware Fault bit attribute is set it
indicates that the associated motion module has detected
a hardware problem that, in general, is going to require
replacement of the module to correct.
4-6 Reserved -
7 Conn Format Fault Data Format Error This fault bit indicates that an error has occurred in the
data format between the controller and the device, for
example, a Format Revision mismatch.
8 Local Mode Fault - The Local Mode Fault is set when the controller is locked
in Local Mode operation.
9 CPU Watchdog Fault Processor Watchdog The Processor Watchdog Fault bit indicates that the
Fault processor associated with the device node has
experienced an excessive overload condition that has
tripped the associated processor watchdog mechanism.
10 Clock Jitter Fault - The Clock Jitter Fault bit is set when there is excessive
clock jitter between the controller and the motion device.
11 Cyclic Read Fault - The Cyclic Read Fault is set when the controller detects a
runtime error associated with the Cyclic Read mechanism.
12 Cyclic Write Fault - The Cyclic Write Fault is set when the controller detects a
runtime error associated with the Cyclic Write
mechanism.
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Bit Module Fault Device Node Fault Description
Name Name
13 Clock Skew Fault Clock Skew Fault Clock Skew Fault bit indicates that the motion device has
detected significant difference between the device's
System Time and the controller's System Time that
prevented the device from switching to synchronous
operation after a time out period.
14 Control Conn Fault Control Connection Loss The Control Connection Loss fault bit indicates that the
Fault CIP Motion C-to-D connection from the controller has
timed out.
15 Reserved -
16 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. This fault condition is an
indication that the local IEEE 1588 clock has lost
synchronization with the master and was not able to
resynchronize within the allotted timeout (such as 40 to
60 seconds).
17 Logic Watchdog Logic Watchdog Fault The Logic Watchdog Fault bit indicates that an auxiliary
Fault logic component (for example, FPGA, or ASIC) associated
with the device node has experienced an excessive
overload condition that has tripped the associated logic
watchdog mechanism.
18 Duplicate Address Duplicate Address Fault The Duplicate Address Fault bit indicates that a motion
Fault device node has been detected on the network that uses
the same Node Address as this device node. For Ethernet,
this address would be the IP Address of the device.
19-31 Reserved -
Module Alarm Bits
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV T DWORD - - - Bitmap
0 = Control Sync Alarm
1 = Module Sync Alarm
2 = Timer Event Alarm
3 = CPU Overload Alarm
4 = Clock Jitter Alarm
5 = Out of Range Alarm
6 = Clock Skew Alarm
7 = Clock Sync Alarm
8 = Node Address Alarm
9...31 = Reserved
This bit field is a roll-up of module scoped alarm conditions that can include
synchronization alarms detected on either side of the CIP Motion connection. All
defined Node Alarm Codes are mapped into bits in this attribute.
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The following table defines a list of conditions associated with the Module Alarm
Bits attributes. While the Module Alarm Bits attribute is marked as Required in
the CIP Motion device implementation, support for each of the individual fault
conditions therein is left Optional. In this table the terms motion module and
motion device are used synonymously.
Bit Alarm Name Device Node Alarm Description
Name
0 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.
1 Module Sync Alarm Control Connection The Module Sync Alarm bit attribute is set when
Update Alarm the 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 Low Limit attribute
value. This bit is cleared after 10 seconds without
another alarm condition.
2 Timer Event Alarm - The Timer Event Alarm bit attribute is set when the
associated motion module has detected a problem
with the module's timer event functionality used to
synchronize the motion module's control loops. The
Timer Event Alarm bit can only be cleared by
reconfiguration or power cycle of the motion
module.
3 Processor Overload Alarm Processor Overload The Processor Overload Alarm bit indicates that the
Alarm host processor associated with motion device is
experiencing overload conditions that could
eventually lead to a fault.
4 Clock Jitter Alarm Clock Jitter Alarm Clock Jitter Alarm bit indicates that the Sync
Variance has exceeded the Sync Threshold while
the motion device is running in Sync Mode.
5 Out of Range Alarm - The Out of Range Alarm indicates that the motion
device has detected that a Cyclic Write attribute
value has exceeded its allowed range.
6 Clock Skew Alarm Clock Skew Alarm Clock Skew Alarm bit indicates that the motion
device has detected significant difference between
the device's System Time and the controller's
System Time that is preventing the device from
switching to synchronous operation.
7 Clock Sync Alarm Clock Sync Alarm The Clock Sync Alarm bit indicates that the motion
device's local clock has lost synchronization with
the master clock for a short period of time (such as
10 to 20 seconds) during synchronous operation.
This alarm condition can also occur when a change
in the master clock source has been detected. The
Clock Sync Alarm is an indication that the local
IEEE-1588 clock has shifted back to its start-up
mode to quickly synchronize into the master clock.
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Bit Alarm Name Device Node Alarm Description
Name
8 Node Address Alarm Node Address Alarm The Node Address Alarm bit indicates that the Node
Address setting of the device has been changed
during motion device operation and may no longer
be valid.
19-3 Reserved -
1
See also
Exceptions on page 47
Standard Exceptions on page 623
Exception Factory Limit Info Attributes on page 392
Exception User Limit Configuration Attributes on page 401
Feedback Attributes The following position feedback related attribute tables associated with a Motion
Control Axis apply to various feedback device and feedback interface
technologies.
Feedback Interface Types Feedback interface technologies include:
• Digital AqB (digital A quad B signals)
• Sine/Cosine (analog A quad B signals)
• Digital Parallel (parallel digital bit interface)
• SSI (Synchronous Serial Interface)
• LDT (Linear Displacement Transducer)
• Resolver
Other modern feedback interfaces supported are: Hiperface and Hiperface DSL
(by Stegmann) and EnDat 2.1 and EnDat 2.2 (by Heidenhain). The Usage
column for a feedback attribute is based on the context of the Feedback Type.
Abbreviations for the various Feedback Types are defined in this table:
Feedback Type abbreviations
Abbreviation Feedback Type
TT Digital AqB
TP Digital Parallel
SC Sine/Cosine
HI Hiperface
HD Hiperface DSL
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Abbreviation Feedback Type
ED EnDat 2.1 and 2.2
INT Integrated
RS Resolver
SS SSI
LT LDT - Linear Displacement Transducer
TM Tamagawa
SL Stahl SSI
This section defines the minimal set of required attributes to support CIP Motion
device interchangeability. This guarantees that there is sufficient parametric data
provided by the controller for any CIP Motion compliant drive to effectively
interface to a wide range of feedback device types.
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. Each logical feedback channel is mapped to a physical feedback
interface port of the device, for example Port 1, and Port 2.
Logical Feedback Channel Control Functions
Logical Feedback Channel Motion Control Function Master Feedback Function
Feedback 1 Motor Feedback and Commutation Master Feedback 1
Feedback 2 Load-side Feedback Master Feedback 2
Feedback 3 Vendor Specific Vendor Specific
Feedback 4 Vendor Specific Vendor Specific
Feedback 3 (Rockwell Redundant Motor Feedback Redundant Master Feedback 1
Automation)
Feedback 4 (Rockwell Redundant Load-side Feedback Redundant Master Feedback 2
Automation)
When the Control Mode is set to something other than No Control, Feedback 1
is associated with the motor mounted feedback device while Feedback 2 is
associated with the load-side or machine mounted feedback device. Feedback 1 is
always required for PM Motor commutation.
When Control Mode is set to No Control for a Motion Control Axis, different
logical feedback channels can be used as the master feedback source, for example,
Feedback 1 and Feedback 2. Generally, Feedback 1 is used.
For Rockwell Automation devices Feedback 3 is used to provide a redundant
logical feedback channel for Feedback 1 while Feedback 4 is used to provide a
redundant logical channel for Feedback 2.
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To minimize the length of the feedback attribute tables below, the letter n in the
generic Feedback n attribute name is used to specify the associated feedback
channel number. Valid channel numbers for open standard feedback attributes of
the Motion Control Axis are 1, 2, 3 and 4.
Attribute IDs are assigned based on the channel number. Support for feedback
interface channels 1, 2, 3 and 4 are optional in the device implementation. If no
feedback interface channel is present in the device the associated set of feedback
channel attributes are not applicable.
However, if hardware support for any of these feedback channels is available in a
given device, these attributes are clearly applicable in the implementation and will
follow the Usage rules. A Usage rule of 'Req - E' or 'Opt - E' indicates that the
attribute is generally applicable to all Device Control Codes where the feedback
channel itself is applicable, hence the 'E' for Encoder.
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. This table outlines
these rules:
Feedback Configuration Feedback 1 Feedback 2
No Feedback No No
Master Feedback Yes No
Motor Feedback Yes No
Load Feedback Yes (1)
Yes
Dual Feedback Yes Yes
Dual Integrator Feedback Yes Yes
Feedback 1 channel is needed for commutation of PM Motors.
(1)
See also
General Feedback Info Attributes on page 432
General Feedback Signal Attributes on page 433
Feedback Configuration Attributes on page 418
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Feedback Configuration The Feedback Configuration attributes determines how the various available
feedback channels are used to implement the selected Control Mode.
Attributes
Feedback Configuration
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV USINT 0 (B, F) 0 15 Enumeration:
1 (E) 0 = No Feedback
2 (C) 1 = Master Feedback
2 = Motor Feedback
3 = Load Feedback
4 = Dual Feedback
5-7 = Reserved
8 = Dual Int Feedback
8-15 = Reserved
The Feedback Configuration attribute sets the initial value for Feedback Mode.
This attribute contains a 4-bit enumerated value that determines how the various
logical feedback channels are used to implement the selected Control Mode for
this axis instance.
Feedback Configuration enumerations provide support for multi-feedback device
control functionality for the various active device Control Modes, for example,
where the device is actively controlling the motor based on feedback. In these
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, except in the case of an active redundant feedback source.
The following table provides descriptions of the Feedback Configuration
enumerations:
Bit Usage Name Description
0 R/S No Feedback No Feedback is selected when sensorless open loop or closed loop
control is desired. When performing open loop control, no feedback
signal is required. In closed loop control, the required feedback
signal is estimated by a sensorless control algorithm based on
motor phase voltage and current signals.
1 R/N Master Feedback Master Feedback assigns an uncommitted feedback channel to this
device axis instance to serve as a master feedback source when the
device is configured for No Control mode
2 R/C Motor Feedback When Motor Feedback is selected, then commutation, acceleration,
velocity, and position feedback signals are all derived from motor
mounted Feedback 1
3 O/C Load Feedback When Load Feedback is selected, then motor-mounted Feedback 1
is only used for PM motor commutation while load-side Feedback 2
is used for position, velocity, and acceleration.
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Bit Usage Name Description
4 O/P Dual Feedback When Dual Feedback is selected, then motor mounted Feedback 1 is
used for commutation, acceleration, and velocity, and load-side
Feedback 2 is used strictly for position.
5-7 - Reserved -
8 O/P Dual Integrator Feedback Dual Integral Feedback means that motor-mounted Feedback 1 is
used for commutation, acceleration, velocity, and position
proportional control, and load-side Feedback 2 is used only for
integral position control. This optimizes the stiffness of the control
loop at low frequency.
9-15 - Reserved -
Feedback Mode
Usage Access Data Default Min Max Semantics of Values
Type
Required - ED Set* BYTE 0 0 15 Bits 0-3: Feedback Mode
Enumeration
0 = No Feedback
1 = Master Feedback
2 = Motor Feedback
3 = Load Feedback
4 = Dual Feedback
5-7 = Reserved
8-15 = Vendor Specific
8 = Dual Int Feedback
Bits 4-5: Feedback Data Type
Enumeration
0 = DINT (32-bit integer)
1 = LINT (64-bit integer)
2-3 = Reserved
Bits 6-7 = Reserved
* 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. Currently bits 0-3 are
used to enumerate the Feedback Mode configuration. Bits 4-5 are used to select
the position feedback data type. Bit 5-7 are reserved for future use.
This attribute is transferred to the device as part of the Cyclic data block.
This attribute contains the 4-bit enumerated Feedback Mode field derived from
the Feedback Configuration attribute that determines how the various logical
feedback channels are used to implement the the selected Control Mode for this
axis instance. The attribute also contains a 2-bit enumerated field, Feedback Data
Type, which determines the Actual Position data type that is to be included in the
Device-to-Controller connection Cyclic Data Block, with options for 32-bit or
64-bit signed integer representations. The Feedback Data Type field value is
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determined by the Extended Position Feedback bit (bit 20) of the Axis Features
attribute, and is not user configurable in this implementation.
Feedback Mode field enumerations provide support for multi-feedback device
control functionality for the various active device Control Modes, for example,
where the device is actively controlling the motor based on feedback. In these
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, except in the case of an active redundant feedback source.
Bit Usage Name Description
0 R/E No Feedback No Feedback is selected when sensorless open loop or closed loop control
is desired. When performing open loop control, no feedback signal is
required. In closed loop control, the required feedback signal is
estimated by a sensorless control algorithm based on motor phase
voltage and current signals.
1 R/E Master Feedback Master Feedback assigns an uncommitted feedback channel to this
device axis instance to serve as a master feedback source when the
device is configured for No Control mode.
2 R/C Motor Feedback When Motor Feedback is selected, then commutation, acceleration,
velocity, and position feedback signals are all derived from motor
mounted Feedback 1.
3 O/C Load Feedback When Load Feedback is selected, then motor-mounted Feedback 1 is
only used for PM motor commutation while load-side Feedback 2 is used
for position, velocity, and acceleration.
4 O/P Dual Feedback When Dual Feedback is selected, then motor mounted Feedback 1 is
used for commutation, acceleration, and velocity, and load-side
Feedback 2 is used strictly for position.
5-7 - Reserved -
8 O/P Dual Integrator Feedback Dual Integral Feedback means that motor-mounted Feedback 1 is used
for commutation, acceleration, velocity, and position proportional
control, and load-side Feedback 2 is used only for integral position
control. This optimizes the stiffness of the control loop at low frequency.
9-15 - Reserved -
When modified programmatically, using SSV, only the Feedback Mode field value
can be changed, all other bits are ignored by the instruction. Furthermore, the
Feedback Mode field value, cannot be set to an enumeration that the Feedback
Configuration cannot support. Attempting to do so results in the SSV instruction
generating a Minor Fault. For example if the Feedback Configuration is set for
Motor Feedback, the Feedback Mode cannot be changed to Load Feedback since
that feedback channel has not been configured.
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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
Dual Feedback Dual Feedback
Load Feedback
Motor Feedback
No Feedback
Feedback Master Select
Usage Access Data Default Min Max Semantics of Values
Type
Optional- N Set USINT 1 - - Enumeration
0 = (Reserved)
1 = Feedback 1
2 = Feedback 2
2-255 = (reserved)
The Feedback Master Select attribute determines the Logical channel assigned to
this axis instance when setting the Feedback Mode to Master Feedback.
Feedback Unit Ratio
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set/GSV REAL 1 - - Feedback 1 Units per Feedback 2 Unit
PV only FD
The Feedback Unit Ratio attribute is the number of Feedback 1 Units per
Feedback 2 Unit. This value is also used by the drive to convert between feedback
2 counts to feedback 1 counts when configured for load feedback or dual feedback
operation.
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Feedback n Resolution Unit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set USINT 0 - - Enumeration:
0 = Cycles/Unit (R)
1 = Units/Cycle (O) (linear only)
2 = Bits/Unit (O) (rotary only)
3-127 (reserved)
128-255 (vendor specific)
The Feedback N Resolution Unit attribute is the unit of measure for feedback
resolution used by the Feedback n Cycle Resolution attribute. If selecting
Units/Cycle, the Feedback n Cycle Resolution is expressed in Nanometers/Cycle
for linear feedback devices. This selection is not applicable to rotary devices. If
selecting Bits/Units, the Feedback n Cycle Resolution is expressed as 2n Cycles per
revolution of a rotary feedback device, where n is the number of bits in the binary
position representation of the device. This selection is not applicable for linear
devices.
Feedback n Unit
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set USINT 0 - - Enumeration
DB 0 = Rev
1 = Meter
2-127 = Reserved
128-255 = Vendor
The Feedback n Unit attribute is a unit of measure for the designated feedback
device. The Feedback Unit for Feedback 1 and any redundant feedback device for
Feedback 1 must be scalable to the configured Motor Unit; if the Motor Unit is
set to Rev, Feedback 1 Unit must be set to Rev; if Motor Unit is set to Meter,
Feedback 1 Unit will be set to Meter. Feedback devices with a Feedback Unit of
Rev are considered "rotary" devices, while Feedback devices with a Feedback unit
of Meter are considered "linear" devices.
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Feedback n Port Select
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Set USINT 0 - - Enumeration
0 = Unused (R)
1-255 = Feedback Port ID (O)
The Feedback n Port Select attribute maps the logical Feedback Channel n to a
physical Feedback Port ID. A Feedback Port ID is assigned to each feedback
interface port of the device by the drive vendor. If this attribute is not supported
by the drive, the drive vendor shall hardcode the feedback port mapping to the
logical Feedback Channels for each axis instance. Supporting the Feedback n Port
Select attribute allows flexibility to map the logical Feedback Channels to different
Feedback Ports.
Default Feedback n Port Select = 0. A value of 0 indicates that Feedback n
Channel is unmapped, hence unused.
Feedback n Type
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set USINT 0 - - Enumeration
DB 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)
7 = EnDat Sine/Cosine (O)
8 = EnDat Digital (O)
9 = Resolver (O)
10 = SSI Digital (O)
11 = LDT (O)
12 = Hiperface DSL (O)
13 = BiSS Digital (O)
14 = Integrated (O)
15 = SSI Sine/Cosine (O)
16 = SSI AqB (O)
17 = BiSS Sine/Cosine (O)
18-127 = Reserved
128-255 = Vendor Specific
128 = Tamagawa Serial
129 = Stahl SSI
The Feedback n Type attribute identifies the type of feedback device connected to
the associated Feedback interface. Drive support for any individual feedback types
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is left to the discretion of the device manufacturer. However if a specific feedback
type is supported, attributes associated with that type are generally required in the
implementation.
When Feedback n Type is set to Not Specified, all Feedback n configuration
attribute values associated with this feedback device are considered Not Applicable
and will not be set by configuration software nor will they be sent to the drive. If
the optional Commutation Startup Method attribute is not supported by the
device, or the Commutation Startup Method is set to From Feedback Type, the
Feedback 1 Type can be used to implicitly specify the commutation startup
method.
For example, by selecting the Feedback 1 Type with or without UVW
commutation signals the device applies the UVW commutation startup method
or the Self-Sense startup method, respectively. In this case, UVW commutation
signals can be derived from UVW tracks integral to the feedback device or using
separate Hall sensors in the motor. All other Feedback 1 Type selections would
apply the Digital commutation startup method.
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.
In the case of a motor mounted feedback device, if the Motor Data Source is
Datasheet or Database, an unspecified Feedback 1 Type, when received by the
drive device during configuration, indicates that the motor feedback configuration
has not been defined and therefore results in a Configuration Fault indicating an
Invalid Attribute Value.
Feedback n Polarity
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Se USINT 0 - - Enumeration
0 = Normal Polarity
1 = Inverted Polarity
2-225 = Reserved
The Feedback n Polarity attribute is an enumerated value used to establish the
direction of change in the feedback counter in response to positive motion of the
associated feedback device. Normal polarity is defined as that which results in
increasing feedback counts when the feedback device is hooked up and moved in
the positive direction according to the devices published specifications.
Inverted polarity internally switches the polarity of the feedback accumulator so
that the feedback counts decrease when the feedback device moves in the positive
direction. This attribute can be used to make the direction of travel agree with the
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user's definition of positive travel and can be used in conjunction with the Motor
Polarity bit to provide negative feedback, when this feedback channel is used for
closed loop control.
Feedback n Startup Method
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set USINT Default - - Enumeration
Startup 0 = Incremental (R)
Method 1 = Absolute (O)
DB 2-255 = Reserved
The Feedback n Startup Method attribute determines how the device applies the
feedback count value during drive startup. When configured for Incremental
mode, the device zeros the feedback count accumulator at power-up. The first
Actual Position value sent to the controller in the Cyclic Data Block of the
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. When the feedback device's absolute position range is less than
the 32-bit signed integer representation of the feedback count accumulator, the
absolute position is sign extended to a 32-bit signed value. While there are many
Feedback Types that support Absolute startup, there are a few strictly incremental
types that do not: Digital AqB, and Sine/Cosine.
Some device vendors tie the Feedback Startup Method to the Feedback Type
selection. In these cases, an attempt by the controller to incorrectly configure the
Feedback Startup Method will generate a General Status error of Invalid Attribute
Value.
The default Feedback Startup Method value depends on the associated Feedback
Type according to the following table:
Feedback Type Default Feedback Startup Method
Digital AqB Incremental
Digital Parallel Absolute
Sine/Cosine Incremental
Hiperface Absolute
EnDat Sine/Cosine Absolute
EnDat Digital Absolute
Resolver Absolute
SSI Digital Absolute
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Feedback Type Default Feedback Startup Method
LDT Absolute
Hiperface DSL Absolute
BiSS Digital Absolute
Integrated Absolute
SSI Sine/Cosine Absolute
SSI AqB Absolute
BiSS Sine Cosine Absolute
Tamagawa Serial Absolute
Stahl SSI Absolute
Feedback n Cycle Resolution
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set UDINT Default 1 max Cycles/Unit (Rotary): Feedback Cycles
Not LT Feedback dint / Rev
Resolution Cycles/Unit (Linear): Feedback Cycles /
DB m
Unit/Cycle (Linear): nm / Feedback
Cycle
Bits/Unit (Rotary): 2n Cycles / Rev
(Rotary) where n = #Bits
The Feedback n Cycle Resolution attribute determines the resolution capability of
the associated feedback device. Units for this attribute are determined by the
Feedback n Resolution Unit and the rotary or linear Feedback n Unit as shown in
the Semantics column. For rotary feedback devices, this value is expressed as the
number of Feedback Cycles per Revolution of the device, or alternatively by the
number of bits in the binary position representation of the device per Revolution.
For linear feedback devices, this value represents the either the number of
Feedback Cycles per Meter (m), or the number of nanometers (nm) per Feedback
Cycle.
Cycles for a Digital AqB device represent the 'line' resolution of the encoder.
Cycles for a Sin/Cos device represent the sinusoidal 'cycle' resolution of the
encoder. Cycles for a Resolver is the 'pole' count of the device. For digital serial
(e.g. SSI) or parallel absolute feedback devices, Cycles represent the 'step' or 'count'
resolution of the device.
The default Feedback Resolution value used for the Feedback Cycle Resolution
attributes depends on the associated Feedback Type and Feedback Unit selection
according to the following table:
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Default Feedback Resolution vs. Feedback Type and Feedback Unit
Feedback Type Feedback Resolution Feedback Resolution
Feedback Unit = Revs Feedback Unit = Meters
Digital AqB 1024 cycles/rev 4096 cycles/m
Digital Parallel 1024 cycles/rev 4096 cycles/m
Sine/Cosine 1024 cycles/rev 4096 cycles/m
Hiperface 1024 cycles/rev 4096 cycles/m
EnDat Sine/Cosine 2048 cycles/rev 8192 cycles/m
EnDat Digital 131072 cycles/rev 655360 cycles/m
Resolver 2 cycles/rev 8 cycles/m
SSI Digital 524288 cycles/rev 2097152 cycles/m
LDT - -
Hiperface DSL 131072 cycles/rev 655360 cycles/m
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 4096 cycles/m
Tamagawa Serial 131072 cycles/rev 655360 cycles/m
Stahl SSI 1024 cycles/rev 4096 cycles/m
Feedback n Cycle Interpolation
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set UDINT 4 1 max Feedback Counts / Feedback Cycle
Not LT DB dint
The Feedback n Cycle Interpolation attribute is the number of interpolated
Feedback Counts per Feedback Cycle. For a Digital AqB device the device's
feedback interface hardware can generally support interpolation values of 1, 2, or
4. For a Sin/Cos, Hiperface, EnDat, or Resolver feedback device the number is
generally much larger and determined by the interpolation capability of the device
feedback interface hardware. A value of 1024 is typical in this case. For digital
serial, for example, SSI, or parallel absolute feedback device interfaces, this value is
always 1 since there is no opportunity for device-based interpolation. The effective
resolution of the feedback device in Feedback Counts per Feedback Unit is
determined by the combination of the Feedback Cycle Resolution and the
Feedback Cycle Interpolation attribute values.
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Feedback n Turns
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set UDINT 1 1 max Feedback Units (Rev)
Rotary Absolute DB dint
The Feedback n Turns attribute is the maximum number of shaft turns specified
for a rotary absolute feedback device to maintain its absolute position reference.
Typical rotary absolute feedback devices specify an absolute number of turns that
typically range from 1 to 4096 in powers of 2. This attribute can be used by the
control system to determine the maximum Feedback Count range of the absolute
feedback device, this being the product of the feedback cycle resolution,
interpolation, and turns.
Feedback n Length
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set REAL 1 0.001 Feedback Units (Meter)
Linear Absolute DB
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.
Feedback n Data Length
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set USINT 16 8 32 # of Bits
TP, SS
The Feedback n Data Length attribute is the number of feedback data bits
transferred over the digital serial or parallel data interface channel of a feedback
device.
Feedback n Data Code
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set USINT 0 - - Enumeration
TP, SS 0 = Binary
1 = Gray
2-255 = Reserved
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The Feedback n Data Code attribute is the type of feedback data bit encoding
used by designated serial or parallel data interface channel of a feedback device.
Feedback n Resolver Transformer Ratio
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set REAL 1 - - -
RS
The Feedback n Resolver Transformer Ratio attribute is the Transformer Ratio
specification of the designated resolver feedback device.
Feedback n Resolver Excitation Voltage
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set REAL 0 - - Volts (RMS)
RS
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 Data Default Min Max Semantics of Values
Type
Optional - E Set REAL 4000 - - Hertz
RS
The Feedback n Resolver Excitation Frequency attribute is the frequency of
sinusoidal excitation signal applied to the designated resolver feedback device.
Valid frequency range or values for this attribute depends on the specific device
hardware interface.
Feedback n Resolver Cable Balance
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set REAL 100 0 %
RS
The Feedback n Resolver Cable Balance attribute adjusts the relative amplitude of
the Sine and Cosine signals from the resolver to compensate for impact of resolver
cable.
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Feedback n LDT Type
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set USINT - - Enumeration:
LT 0 = PWM
1 = Start/Stop Rising
2 = Start/Stop Falling
3-255 = (reserved)
The Feedback n LDT Type determines the LDT type. Options are Start/Stop and
PWM. Start/Stop transducers accept an input (interrogate) signal to start the
measurement cycle and respond with two pulses on the Return line. Timing can be
based on either the Rising or Falling edge. The time between the pulses is
proportional to the position. PWM transducers respond to the interrogate signal
with a single long pulse on the Return line. The pulse width is proportional to the
position.
Feedback n LDT Recirculations
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set USINT - - - # Recirculations
The Feedback n LDT Recirculations attribute determines the number of
recirculations associated with a PWM type LDT transducer. Use multiple
recirculations to increase the resolution of the LDT at the expense of increasing
the sample period.
Feedback n Loss Action
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set USINT 0 - - Enumeration
0 = Set Exception (R)
1 = Switch to Sensorless Fdbk (O)
2 = Switch to Redundant Feedback (O)
3-255 = Reserved
The Feedback n Loss Action attribute specifies the action taken in the event of a
loss of Feedback 1 signal. Valid actions are to simply handle as an Exception, or
automatically switch to Sensorless operation where feedback is estimated based on
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.
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Feedback n Scaling Ratio
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set LREAL 0 - - Scaled Feedback Counts per Feedback n
Count
The Feedback n Scaling Ration attribute is the number of Scaled Feedback Counts
per Feedback n Count. Use this value to convert between secondary feedback n
counts to the resolution of the associated primary feedback channel to support
dynamic switching between feedback channels.
Feedback n Velocity Filter Taps
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set UINT 1 1 maxint Delay Taps (>= 1)
The Feedback n Velocity Filter Taps attribute determines the number of delay
taps used in the FIR Filter differencing algorithm to estimate velocity from
Feedback n. A simple difference of 1 sample period is equivalent to a 1 delay tap.
Feedback n Accel Filter Taps
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set UINT 1 1 maxint Delay Taps (>= 1)
The Feedback n Accel Filter Taps attribute determines the number of delay taps
used in the FIR Filter differencing algorithm to estimate acceleration from
Feedback n. The Acceleration FIR filter can be implemented as two cascaded FIR
filters each configured according to the Feedback n Acceleration Filter Tap
setting. A simple difference of 1 sample period is equivalent to 1 delay tap.
Feedback n Velocity Filter Bandwidth
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set REAL 0 0 Radians/sec
FD
The Feedback n Velocity Filter Bandwidth attribute controls the bandwidth of
the Low Pass Filter applied to the raw velocity signal from Feedback n. A value of
0 for this attribute disables this feature.
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Feedback n Accel Filter Bandwidth
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set REAL 0 0 Radians/sec
The Feedback n Accel Filter Bandwidth attribute controls the bandwidth of the
Low Pass Filter applied to the raw acceleration signal from Feedback n. A value of
0 for this attribute disables this feature.
Feedback n Battery Absolute
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set USINT 0 - - Enumeration
TM 0 = No
1 = Yes
The Feedback n Battery Absolute attribute determines if a battery is included in a
battery-backed absolute feedback device. This allows the drive to qualify Feedback
Battery Loss and Feedback Battery Low exception conditions.
See also
Feedback Attributes on page 415
General Feedback Info Attributes on page 432
General Feedback Signal Attributes on page 433
Interpreting the Attribute Tables on page 93
General Feedback Info These are the general feedback information attributes associated with a Motion
Control Axis.
Attributes
Feedback n Serial Number
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Get SHORT - - - For example, 0012003400560078
STRING
The Feedback n Serial Number attribute is a 16-character string that specifies the
serial number of the device associated with Feedback n. If it is not possible for the
drive to read the Serial Number from the feedback device the drive sets this
attribute to a Null string.
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See also
Feedback Attributes on page 415
General Feedback Signal Attributes on page 433
Feedback Configuration Attributes on page 418
General Feedback Signal These are the general feedback signal attributes associated with a Motion Control
Axis.
Attributes
Position Feedback n
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/GSV T DINT - - - Feedback n Counts
The Position Feedback n attribute is the actual position of the axis based on
Feedback n.
See also
Feedback Attributes on page 415
General Feedback Signal Attributes on page 433
Feedback Configuration Attributes on page 418
Motion Control Attributes The following attribute tables contain motion control related attributes associated
with a Motion Control Axis Object instance.
Motion Control Configuration These are the basic motion control configuration attributes associated with a
motion control axis. These attributes govern the overall behavior of the motion
Attributes
control axis.
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Axis features
Usage Access Data Type Default Min Max Value Description
Required - All Set/ DWORD 0 - - Bitmap
GSV 0 = Fine Interpolation (O)
1 = Registration Auto-rearm (O)
2 = Alarm Log (O)
3 = Marker (O)
4 = Home Switch (O)
5 = Hookup Test (O)
6 = Commutation Test (O)
7 = Motor Test (O)
8 = Inertia Test (O)
9 = Sensorless Control (O)
10 = Drive Scaling (O)
11 = Extended Event Block (O)
12 = Integer Command Position (O)
13 = Ext. Motor Test (O)
14 = Control Mode Change (O)
15 = Feedback Model Change (O)
16 = Pass Bus Status (O)
17 = Pass Bus Unload (O)
18 = Ext. Speed for SPM (O)
19 = Ext. Speed for IPM (O)
20 = Ext. Pos. Feedback (O)
21 = Ext. Sub Code Format (O)
22-31 = Reserved
The following table provides descriptions of the bit specified Axis feature attribute
values.
Bit Motion Status Description
0 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.
1 Registration Auto-rearm (O) Indicates that the axis supports the automatic re-arming mechanism for
registration inputs. This feature is required for windowed registration
support.
2 Alarm Log (O) Indicates that this axis supports the Alarm Log feature. Alarm Log data is
received from the drive using the Alarm bit of the Status Data Set and
updates the Alarm Log of the controller.
3 Marker (O) Indicates that the axis position feedback device supports a marker
function. This functionality is required for Homing Sequences that
employ the marker signal and for the marker Hookup Test.
4 Home Switch (O) Indicates that the axis supports a home switch input. This functionality is
required for Homing Sequences that employ the home switch input
signal.
5 Hookup Test (O) The axis supports a Hookup Test service. This service is required to
perform a Hookup Test (MRHD) to check wiring to the motor and
feedback components.
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Bit Motion Status Description
6 Commutation Test (O) The axis supports a Commutation Test as part of the Hookup Test service.
This service is required to perform a Hookup Test (MRHD) to check
commutation wiring and determine the Commutation Offset.
7 Motor Test (O) The axis supports a Motor Test service. This service is required to perform
a Motor Test (MRMT) to measure motor model parameters.
8 Inertia Test (O) The axis supports an Inertia Test service. This service is used as part of the
Auto Tune (MRAT) that measures inertia.
9 Sensorless Control (O) The axis supports sensorless control operation letting the drive run in
velocity loop mode without an external feedback device.
10 Drive Scaling (O) The device supports Drive Scaling functionality where the device is able
to scale feedback counts to planner counts and manage absolute
position.
11 Extended Event Block (O) The device supports the extended Event Data Block format. This format
supports additional features generally associated with Drive Scaling
functionality, such as Watch Position events and Windowed
Registration.
12 Integer Command Position (O) The device requires Command Position Format to be a DINT (32-bit
signed integer) data type. If not set, the device supports the standard
LREAL (64-bit floating point) Command Position data type.
13 Ext. Motor Text (O) The device supports the extended motor data format for the Motor Test
service. This format supports transfer of vendor specific motor
parameters and is required for the Motor Test service to support IPM
motors.
14 Control Mode Change (O) The device supports changes to the Control Mode while in the Running
state without generating large motion disturbances (bumpless). An
example of such a mode change would be to switch from Position
Control to Torque Control using an SSV instruction. If a particular Control
Mode change is not supported by the device, a Configuration Fault will
be generated.
15 Feedback Mode Change (O) The device supports the ability to change the Feedback Mode while in
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. If a
particular Feedback Mode change is not supported by the device, a
Configuration Fault will be generated.
16 Pass Bus Status (O) The device supports passing Converter Status bits, Bus Up and AC Power
Loss, in the Control Status element of the C2D Connection's Axis Instance
header when configured for DC Bus Sharing. The states of these Bus
Status bits are determined by the controller based on the Bus Up and AC
Power Loss bits passed in the Axis Status element of the D2C
Connection's Cyclic Data of Converters or Drives (Bus Masters) that also
support the Pass Bus Status feature. If clear, the associated device does
not support Bus Up and AC Power Loss bits in the C2D Connection.
Furthermore, if clear, the Bus Up and AC Power Loss status bits received
by the controller in the device's D2C connection are not passed on to any
other devices.
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Bit Motion Status Description
17 Pass Bus Unload (O) The associated device is capable of generating a Bus Sharing exception
based on Bus Unload request bit passed in the Control Status element of
the C2D Connection's Axis Instance header. In this case, the controller
passes a Bus Unload request to the device if any Converter or Drive (Bus
Masters) in its Bus Sharing Group requests a Bus Unload. If clear, the
controller is responsible for generating a Bus Sharing exception for this
device axis in response to a Bus Unload request from any Converter or
Drive (Bus Masters) in its Bus Sharing group.
18 Ext. Speed for SPM (O) The device supports extending the speed range of an SPM motor
through field weakening to speeds that require methods to protect
drives from destructive DC Bus Overvoltage conditions. To manage that
risk, the Extended Speed feature provides additional PM motor
attributes including a PM Motor Extended Speed Permissive attribute.
19 Ext. Speed for IPM (O) The device supports extending the speed range of an IPM motor through
field weakening to speeds that require methods to protect drives from
destructive DC Bus Overvoltage conditions. To manage that risk, the
Extended Speed feature provides additional PM motor attributes
including a PM Motor Extended Speed Permissive attribute.
20 Ext. Position Feedback (O) The device supports passing Actual Position as a 64-bit LINT element in
the Cyclic Data Block of the D2C Connection. If this bit is clear, the device
only supports passing Actual Position as a 32-bit DINT.
21 Ext. Sub Code Format (O) The device supports the Extended Sub Code Format as defined in the
Motion Device Axis Object. The extended format uses the most
significant bit of the Sub Code to select one of two bit field formats for
the remaining 7-bits.
Axis configuration
Usage Access Data Default Min Max Value Description
Type
Required - All Set/GSV USINT AOP* 0 5 Enumeration
0 = Feedback Only (O)
1 = Frequency Control (O)
2 = Position Loop (O)
3 = Velocity Loop (O)
4 = Torque Loop (O)
5 = Non-Regenerative AC/DC Converter (O)
6 = Regenerative AC/DC Converter (O)
7 = Low Harmonic AC/DC Converter (O)
8 = DC/DC Converter (O)
9-15 = Reserved
* The default value can be specified by the specific drive profile (AOP).
The axis configuration attribute determines the general dynamic control behavior
of the motion device axis instance.
This attribute is used to set both the Control Mode and Control Method
attributes according to the following table:
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Axis Config Control Mode Control Method
Regenerative AC/DC Converter No Control No Control
Non-Regenerative AC/DC No Control No Control
Converter
Low Harmonic AC/DC Converter No Control No Control
DC/DC Converter No Control No Control
Position Loop Position Control PI Vector Control
Velocity Loop Velocity Control PI Vector Control
Torque Loop Torque Control PI Vector Control
The axis configuration attribute is an enumerated value that determines the
general dynamic control behavior of the motion device axis instance. This
attribute is used by the controller to set the Control Mode attribute that is sent to
the drive as part of the cycle connection, and also determines Control Method
attribute configuration. So, when axis configuration is set by configuration
software, control mode and control method are also updated.
The following table provides descriptions of the Axis configuration attribute
values:
Enumeration Usage Name Description
0 R/E O/C Feedback Only Provides an axis interface to a specific feedback device as a
master feedback source. The Control Mode and Control Method
are set to No Control in this configuration, indicating that there
is no dynamic control capability associated with this axis.
1 R/F Frequency Control Selects the Frequency Control Method that applies voltage to
the motor, generally in proportion to the commanded
frequency or speed. Accordingly, the Control Mode attribute is
set to Velocity Control.
2 R/P Position Loop Selects the PI Vector Control Method that applies feedback to
provide closed loop cascaded PI control of motor position,
velocity, and torque, and includes closed loop control of Iq and
Id components of the motor current vector. Accordingly, the
Control Mode attribute is set to Position Control.
3 R/V O/P Velocity Loop Selects the PI Vector Control Method that applies feedback to
provide closed loop cascaded PI control of motor velocity, and
torque, and includes closed loop control of Iq and Id
components of the motor current vector. Accordingly, the
Control Mode attribute is set to Velocity Control.
4 R/T O/PV Torque Loop Selects the PI Vector Control Method that applies feedback to
provide closed loop PI control of motor torque through control
of Iq and Id components of the motor current vector.
Accordingly, the Control Mode attribute is set to Torque Control.
5 O/ND Non-Regenerative Provides an axis interface to a standalone non-regenerative
AC/DC Converter power converter device. Both the Control Mode and Control
Method are set to No Control in this configuration, indicating
that there is no dynamic control capability associated with this
axis.
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Enumeration Usage Name Description
6 O/G Regenerative AC/DC Provides an axis interface to a standalone regenerative power
Converter converter device or the regenerative converter function of an
integrated regenerative drive device. Both the Control Mode
and Control Method are set to No Control in the configuration,
indicating that there is no dynamic control capability associated
with this axis.
7 O/G Low Harmonic Provides an axis interface to a standalone AC/DC low harmonic
AC/DC Converter converter device, or the AC/DC converter function of an
integrated low harmonic drive device that utilizes active
electronics to that regulate power flow from the AC source to
the DC bus. Both the Control Mode and Control Method are set
to No Control in this configuration, indicating that there is no
dynamic motor control capability associated with this axis.
8 O/N DC/DC Converter Provides an axis interface to a class of devices that convert
power between two DC sources using active electronics, or
simply distribute primary DC input power to secondary DC
buses. DC/DC converters with active electronics are capable of
transferring energy between a primary DC bus and one or more
secondary DC buses, each with different voltage levels. Both the
Control Mode and Control Method are set to No Control in this
configuration, indicating that there is no motor dynamic control
capability associated with this axis.
9-255 (Reserved) -
Control Mode
Usage Access Data Type Default Min Max Value Description
Required - All Get/ BYTE 0 0 4 Enumeration
Derived from Axis SSV(1) 0 = No Control
Configuration 1 = Position Control
2 = Velocity Control
3 = Acceleration Control
4 = Torque Control
5-15 = Reserved
Bits 4-7 Reserved
SSV - These configuration attributes cannot be changed online or using an SSV
(1)
instruction if the axis is in the Running state, for example the Tracking Command
bit of the CIP Axis Status attribute.
The Control Mode attribute determines the general dynamic control behavior of
the drive device axis instance and consists of a 4-bit enumeration. This value is
derived from the axis configuration attribute value during initialization. This
attribute is transferred to the device as part of the Cyclic data block.
When modified programmatically, using SSV, the Control Mode value cannot be
set to an enumeration that the current Axis Configuration cannot support. For
example if the axis configuration is set for Velocity Loop, the Control Mode
cannot be changed to Position Loop since position loop attributes have not been
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configured. This table provides a list of valid Control Modes for a given axis
configuration:
Axis Configuration Valid Control Modes
Non-Regenerative AC/DC Converter No Control
Regenerative AC/DC Converter No Control
Low Harmonic AC/DC Converter No Control
DC/DC Converter No Control
Feedback Only No Control
Frequency Control Velocity Control
Position Loop Position Control
Velocity Control
Torque Control
Velocity Loop Velocity Control
Torque Control
Torque Loop Torque Control
The Control Mode attribute is a 4-bit enumeration that determines the specific
dynamic behavior of the motor that the device is to control for this axis instance.
The following table provides descriptions of valid Control Modes.
Enumeration Usage Name Description
0 R/BE No Control No motor control is provided in this mode.
1 R/P Position Control Controls the position, or orientation, of the motor.
2 R/PV Velocity Control Controls the velocity of the motor.
3 O/PVT Acceleration Control Controls the acceleration of the motor.
4 R/C 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 control algorithm applied by the device
to control the dynamic behavior of the motor.
Usage Access Data Type Default Min Max Value Description
Required - All Get/ USINT 0 0 2 Enumeration
Derived from Axis GSV 0 = No Control
Configuration 1 = Frequency Control
2 = PI Vector Control
3-255 = Reserved
This value is sent to the drive during initialization and cannot be changed during
operation.
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Enumeration Usage Name Description
0 R/BE No Control Associated with a Control Mode of No Control where there is
no explicit motor control provided by the device for this axis
instance.
1 R/F Frequency Control An open loop control method that applies voltage to the
motor, generally in proportion to the commanded frequency
or speed. This control method is associated with Variable
Frequency Drives (VFDs) or so called Volts/Hertz drives.
2 R/C PI Vector Control A closed loop control method that uses actual or estimated
feedback for closed loop cascaded PI control of motor
dynamics, for example, position, velocity, acceleration, and
torque, and always includes independent closed loop PI
control of Iq and Id components of the motor current vector.
3-127 Reserved -
128-255 Vendor Specific -
See also
Interpreting the Attribute Tables on page 93
Motion Control Modes on page 20
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.
Tip: Remember that the attributes that appear in the Logix Designer application are dependent on the current Control
Mode.
Axis Address
Usage Access Data Type Default Min Max Semantics of Values
Required - All Get DINT - - - Absolute Address
Absolute Address of Motion Control Axis Object data structure. The Axis
Address attribute is used to return the actual physical address in memory where
the axis instance is located.
Axis Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All Get/ DINT - - - Instance Number
GSV
Instance Number assigned to this instance of the Motion Control Axis Object.
The Axis Instance attribute is used to return the instance number of an axis. An
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example of using this attribute is responding to an axis major fault. Major fault
records contain the axis instance of the offending axis. Use this attribute to query
an axis instance and determine if the instance number matches the fault record.
The Axis Instance attribute is required when accessing an attribute using a MSG
instruction.
Group Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All Get/ DINT - - - Instance Number
GSV
Instance Number of the Motion Group assigned to this instance of the Motion
Control Axis Object. Use the Group Instance attribute to determine what motion
group this axis is assigned to.
Map Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ DINT - - - Instance Number
GSV
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.
Module Channel
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ USINT 255 - - Channel Number (0, 1, 2, …)
GSV A value of 255 indicates the axis is
unassigned.
Channel number of the module assigned to this instance of the Motion Control
Axis Object. The Module Channel attribute associates an axis to a specific channel
on a motion compatible module by specifying the Module Channel attribute.
Module Class Code
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ DINT - - - Object Class Code
GSV
Object class code of the motion engine in the module. The Module Class Code
attribute is the class code of the object in the motion module which is supporting
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motion; for example 0xAF is the object ID of the Servo Module Axis residing in
the 1756-M02AE module.
C2C Map Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ DINT - - - Producer/Consumed axis's
GSV associated C2C map instance
Producer/Consumed axis's associated C2C map instance. When the Axis Data
Type attribute is specified to be 'Consumed' then this axis is associated to the
consumed data by specifying both the C2C Map Instance and the C2C
Connection Instance. For all other Axis Data Types if this axis is to be produced
then this attribute is set to 1 (one) to indicate that the connection is off of the
local controller's map instance.
C2C Connection Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ DINT - - - Producer/Consumed axis's
GSV associated C2C connection in
reference to the C2C map instance
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.
Memory Use
Usage Access Data Type Default Min Max Semantics of Values
Required - All Get/ UINT - - - 105 (0x69) = I/O space
GSV 106 (0x6a) = Data Table space
Controller memory space where this instance of the Motion Control Axis Object
exists. This attribute is initialized as part of the create service when you create the
axis.
The Logix Designer programming application uses this attribute to create axis
instances in I/O memory for axes that are either to be produced or consumed.
The Memory Use attribute can only be set as part of an axis create service and is
used to control which controller memory the object instance is created in.
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Memory Usage
Usage Access Data Type Default Min Max Semantics of Values
Required - All Get DINT - - - Bytes
Amount of memory consumed for this instance of the Motion Control Axis
Object. The Memory Use attribute can be used to determine the amount of
memory the created instance consumes in bytes.
Axis Data Type
Usage Access Data Type Default Min Max Semantics of Values
Required - All Get 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. This
attribute is initialized as part of the create service when you create the axis.
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 Data Type Default Min Max Semantics of Values
Required - Get/ USINT - - - Enumeration
All GSV 0 = Axis Instance Created
1 = Connection Created
126 = Axis Inhibited
128 = Axis Configured
State of the configuration state machine for this instance of the Motion Control
Axis Object. The Axis Configuration State attribute is used for troubleshooting
purposes to indicate where in the axis configuration state-machine this axis
presently is. Even consumed and virtual axes will utilize this attribute. This
attribute is valid for all physical and non-physical data types.
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Axis State
Usage Access Data Type Default Min Max Semantics of Values
Required - Get USINT - - - Enumeration
All 0 = Ready
1 = Drive Enable, (direct drive
control)
2 = Servo Control
3 = Faulted
4 = Shutdown
5 = Inhibited
6 = Ungrouped
7 = No Module
8 = Configuring (FW default)
State of this instance of the Motion Control Axis. Indicates the operating state of
the axis. Examples of possible states include: axis-ready, drive enable, servo control,
axis faulted, axis shutdown, axis inhibited, and axis unassigned.
Watch Event Task
Usage Access Data Type Default Min Max Semantics of Values
Required - E Get DINT - - - -
User Event Task that will be triggered to execute when a Watch event occurs.
This attribute is set through internal communication from the user Task object to
the Axis object when the Task trigger attribute is set to select this attributes of an
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.
The user Task is triggered at the same time that the Process Complete bit is set for
the instruction that armed the watch event.
Registration 1 Event Task
Usage Access Data Type Default Min Max Semantics of Values
Required - E Get DINT - - - -
User Event Task that will be triggered to execute when a Registration 1 event
occurs.
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This attribute is set through internal communication from the user Task object to
the Axis object when the Task trigger attribute is set to select this attributes of an
Axis. It cannot be set directly by an external device. It is available to be read
externally for diagnostic information.
The Registration 1 Event Task attribute indicates which user Task will be
triggered when a Registration 1 event occurs. An instance value of 0 indicates that
no event task has been configured to be triggered by the Registration 1 Event.
The user Task is triggered at the same time that the Process Complete bit is set for
the instruction that armed the registration event.
Registration 2 Event Task
Usage Access Data Type Default Min Max Semantics of Values
Required - E Get DINT - - - -
User Event Task that will be triggered to execute when a Registration 2 event
occurs.
This attribute is set through internal communication from the user Task object to
the Axis object when the Task trigger attribute is set to select this attributes of an
Axis. It cannot be set directly by an external device. It is available to be read
externally for diagnostic information.
The Registration 2 Event Task attribute indicates which user Task will be
triggered when a Registration 2 event occurs.An instance value of 0 indicates that
no event task has been configured to be triggered by the Registration 2 Event.
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 Min Max Semantics of Values
Required - E Get DINT - - - -
User Event Task that will be triggered to execute when a Home event occurs.
This attribute is set through internal communication from the user Task object to
the Axis object when the Task trigger attribute is set to select this attributes of an
Axis. It cannot be set directly by an external device. It is available to be read
externally for diagnostic information.
The Home Event Task attribute indicates which user Task will be triggered when
a home event occurs. An instance value of 0 indicates that no event task has been
configured to be triggered by the Home Event.
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The user Task is triggered at the same time that the Process Complete bit is set for
the instruction that armed the home event.
Inhibit Axis
Usage Access Data Type Default Min Max Semantics of Values
Required - Set/ SINT 0 - - 0 triggers an uninhibit.
All SSV 1 triggers an inhibit.
Setting to any non-zero value is treated
the same as a value of 1, and results in
the attribute being set to a 1.
Used to initiate putting an axis into the inhibit state.
This feature is designed for the following situations:
• To park an unused or faulted axis so that the application program can
continue to run without the unused or faulted axis.
• To allow a 'generic' application program to be developed for a family of
similar machines that may vary in axis count such that it can be configured
during runtime to match the configuration of the specific machine.
The on-line inhibit process is an intrusive operation in that it impacts all axes
associated to the same motion module as the one being inhibited. As such it is
expected that the users will trigger this operation with the machine in a safe,
non-operating, state. The inhibit process includes breaking connection to the
associated motion module and then allowing the module to be reconfigured with
or without (depending if you are inhibiting or un-inhibiting) this axis.
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. Unless some external form of braking
capability is applied the axis will generally coast to a stop.
Axis ID
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ DINT - - - ID
GSV
Unique number assigned to axis on creation by configuration software.
The Axis ID is used by the Absolute Position Recovery feature during a
configuration software download to determine if a given axis is a new axis or
pre-existing axis. If the axis existed prior to the download, the controller saves
critical absolute position data associated with the axis before continuing the
download. Using the Axis ID, the controller is able to match the saved absolute
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position data with the pre-existing axis and recover absolute position. Using the
saved data, absolute position will be recomputed to account for any motion that
occurred while the download was in process or while power was off.
Axis Update Schedule
Usage Access Data Type Default Min Max Semantics of Values
Required - Set/ USINT - - - Enumeration:
All GSV 0 = Base
1 = Alternate 1
2 = Alternate 2
3-255 = Reserved
Determines the update schedule for the associated axis instance.
The default schedule setting of Base results in the axis being updated with every
scan of Motion Task, or the Base Update Period of the Motion Group. Alternate
1 and Alternate 2 schedule selections result in the axis being updated at multiples
of the Base Update Period given by the Alternate 1 and Alternate 2 Update
Multiplier attribute values of the Motion Group, or Alternate 1 Update Period
and Alternate 2 Update Period, respectively.
Axis Data Type
Usage Access Data Type Default Min Max Semantics of Values
Required - GSV USINT - - - Enumeration:
All 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.
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.
See also
CIP Axis Attributes on page 259
Motion Control Axis Behavior Model on page 57
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Motion Control Signal The Motion Control Signal Attributes associated with the axis provide access to
the current and historical position, velocity, and acceleration information of the
Attributes
axis. These values may be used as part of the user program to implement
sophisticated real-time computations associated with motion control applications.
Important: Configuration of Scaling page parameters is required for any attributes expressed in position,
velocity, or acceleration units to return meaningful values.
All Motion Control Signal Attributes support Direct Tag Access through the
Logix Designer application. Thus, a Motion Signal attribute may be directly
referenced in a program as <axis tag name>.<motion status tag name>. For
example, FeedAxis.ActualPosition.
To avoid the unnecessary processor effort associated with real-time conversion of
certain Motion Status tags that are not of interest to the user, you need to
explicitly activate real-time update of these attributes using the Auto Tag Update
attribute of the associated motion group. A subset of the Motion Control Signal
Attributes must have the Auto Tag Update attribute enabled to perform scaling
conversion. If disabled, the tag value will be forced to zero. The following
attributes are impacted:
• Actual Position
• Actual Velocity
• 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 T Data Default Min Max Semantics of Values
Type
Required - All Get/GSV T REAL - - - Position Units
Tag access is supported by the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Actual Position attribute is the current absolute position of an axis, in the
configured Position Units of that axis. This value is based on data reported to the
Logix Processor as part of an ongoing synchronous data transfer process which
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results in a delay of one Coarse Update Period. Thus, the Actual Position value
that is obtained is the actual position of the axis one Coarse Update Period ago.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
Strobe Actual Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/GSV T REAL - - - Position Units
Strobe Command Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/GSV T REAL - - - Position Units
Strobe Actual Position and Strobe Command Position 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. The values are stored in the configured Position Units of
the axis.
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.
For example, the Strobe Actual Positions can be compared between two axes to
provide a form of slip compensation in web handling applications.
Start Position and Start Command Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/GSV T REAL - - - Position Units
Whenever a new motion planner instruction starts for an axis (for example, using
a MAM instruction), the value of the axis command position and actual position
is stored at the precise instant the motion begins. These values are stored as the
Start Command Position and Start Actual Position respectively in the configured
Position Units of the axis.
Start Positions are useful to correct for any motion occurring between the
detection of an event and the action initiated by the event. For instance, in coil
winding applications, Start Command Positions can be used in an expression to
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compensate for overshooting the end of the bobbin before the gearing direction is
reversed.
If you know the position of the coil when the gearing direction was supposed to
change, and the position at which it actually changed (the Start Command
Position), you can calculate the amount of overshoot, and use it to correct the
position of the wire guide relative to the bobbin.
Average Velocity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/GSV T REAL - - - Position Units / Sec
The Average Velocity attribute is the current speed and direction of an axis in the
configured Position Units per second of the axis.
Unlike the Actual Velocity attribute value, it is calculated by averaging the actual
velocity of the axis over the configured Average Velocity Timebase for that axis.
Average velocity is a signed value with the sign indicating the direction the axis is
currently moving.
The resolution of the Average Velocity variable is determined by the current value
of the Averaged Velocity Timebase parameter, and the configured Conversion
Constant (feedback counts per Position Unit) for the axis. The Average Velocity
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.
For example, on an axis with position units of inches and a conversion constant
(K) of 20000, an averaged velocity time-base of 0.25 seconds results in an average
velocity resolution of:
The minimum Average Velocity Timebase value is one Coarse Update Period
defined by the associated Motion Group Object.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
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Actual Velocity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/ T REAL - - - Position Units / Sec
GSV Tag access is supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Actual Velocity attribute is the current instantaneously measured speed and
direction of an axis, in the configured axis Position Units per second. It is
calculated as the current increment to the actual position per coarse update
interval.
Actual Velocity is a signed floating point value—the sign (+ or -) depends on
which direction the axis is currently moving. Its resolution does not depend on the
Averaged Velocity Timebase, but rather on the conversion constant of the axis and
the fact that the internal resolution limit on actual velocity is 1 feedback count per
coarse update.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
Actual Acceleration
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/ T REAL - - - Position Units / Sec2
GSV Tag access supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Actual Acceleration attribute is the current instantaneously measured
acceleration of an axis in the configured axis Position Units per second per second.
It is calculated as the current increment to the actual velocity per coarse update
interval.
Actual Acceleration is a signed floating-point value. Its resolution does not depend
on the Averaged Velocity Timebase, but rather on the Conversion Constant of the
axis and the fact that the internal resolution limit on actual velocity is 1 feedback
count per Coarse Update Period2.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
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Watch Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/ T REAL - - - Position Units
GSV
The Watch Position attribute is the current set-point position of an axis, in the
configured axis Position Units, as set up in the last, most recently executed, MAW
(Motion Arm Watch) instruction for that axis.
Registration 1 Position and Registration 2 Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/ T REAL - - - Position Units
GSV
Two registration position attributes are provided to independently store axis
position associated with two different registration input events. The Registration
Position value is the absolute position of a physical or virtual axis (in the position
units of that axis) at the occurrence of the most recent registration event for that
axis.
This figure shows how the registration position is latched by the registration input
when a registration event occurs. The latching mechanism can be implemented in
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. The
uncertainty in the registration position is the distance traveled by the axis during
this interval as shown in this equation:
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Use the formula given above to calculate the maximum registration position error
for the expected axis speed. Alternatively, you can calculate the maximum axis
speed for a specified registration accuracy by re-arranging this formula:
Registration 1 Time and Registration 2 Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/ T DINT - - - CST time in microseconds
GSV
The two Registration Time values contain the lower 32-bits of CST time at which
their respective registration events occurred. Units for this attribute are in
microseconds.
Interpolation Time
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Set/ T DINT - - - CST time to Interpolation
SSV
The Interpolation Time attribute is the 32-bit CST time used to calculate the
interpolated positions. When this attribute is updated with a valid CST value, the
Interpolated Actual Position and Interpolated Command Position values are
automatically calculated.
Interpolated Actual Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/ T REAL - - - Position Units
GSV
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.
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Command Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Position Units
GSV Tag access is supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Command Position attribute is the desired or commanded position of a
physical axis, in the configured Position Units of that axis, as generated by the
controller in response to any previous motion Position Control instruction.
Command Position data is transferred by the Logix Processor to a physical axis as
part of an ongoing synchronous data transfer process which results in a delay of
one Coarse Update Period. Thus, the Command Position value that is obtained is
the command position that will be acted upon by the physical servo axis one
Coarse Update Period from now.
The figure below shows the relationship between Actual Position, Command
Position, and Position Error for an axis with an active servo loop. Actual Position
is the current position of the axis as measured by the feedback device, for example
an encoder. Position error is the difference between the Command and Actual
Positions of the servo loop, and is used to drive the motor to make the actual
position equal to the command position.
Command position is useful when performing motion calculations and
incremental moves based on the current position of the axis while the axis is
moving. Using command position rather than actual position avoids the
introduction of errors due to the position error of the axis at the time the
calculation is performed.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
Strobe Command Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Position Units
GSV
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
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Strobe Position) instruction is executed. The values are stored in the configured
Position Units of the axis.
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, Strobe Command Position and Strobe Master Offset values for different
axes can be used to perform real-time calculations. For example, the Strobe Actual
Positions can be compared between two axes to provide a form of slip
compensation in web handling applications.
Start Command Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Position Units
GSV
Whenever a new motion planner instruction starts for an axis (for example, using
a MAM instruction), the value of the axis command position and actual position
is stored at the precise instant the motion begins. These values are stored as the
Start Command Position and Start Actual Position respectively in the configured
Position Units of the axis.
Start Positions are useful to correct for any motion occurring between the
detection of an event and the action initiated by the event. For instance, in coil
winding applications, Start Command Positions can be used in an expression to
compensate for overshooting the end of the bobbin before the gearing direction is
reversed.
If you know the position of the coil when the gearing direction was supposed to
change, and the position at which it actually changed (the Start Command
Position), you can calculate the amount of overshoot, and use it to correct the
position of the wire guide relative to the bobbin.
Command Velocity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Position Units / Sec
GSV Tag access is supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Command Velocity is the commanded speed and direction of an axis, in the
configured axis Position Units per second, as generated by any previous motion
instructions. It is calculated as the current increment to the command position per
coarse update interval. Command Velocity is a signed value—the sign (+ or -)
depends on which direction the axis is being commanded to move.
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Command Velocity is a signed floating-point value. Its resolution does not depend
on the Averaged Velocity Timebase, but rather on the conversion constant of the
axis and the fact that the internal resolution limit on command velocity is 0.00001
feedback counts per coarse update.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
Command Acceleration
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Position Units / Sec2
GSV Tag access is supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Command Acceleration attribute is the commanded speed and direction of
an axis, in the configured axis Position Units per second per second, as generated
by any previous motion instructions. It is calculated as the current increment to
the command velocity per coarse update interval. Command Acceleration is a
signed value: the sign (+ or -) depends on which direction the axis is being
commanded to move.
Command Acceleration is a signed floating-point value. Its resolution does not
depend on the Averaged Velocity Timebase, but rather on the conversion constant
of the axis and the fact that the internal resolution limit on command velocity is
0.00001 feedback counts per Coarse Update Period2.
Tag access supported but value is valid only when Auto Tag Update of the Motion
Group Object is enabled.
Command Torque
Usage Access T Data Default Min Max Semantics of Values
Type
Required - VT Get/ T REAL 0 - + % Rated
SSV
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. Unlike
Command Position, Command Velocity, and Command Acceleration, the
Command Torque attribute is not generated by the motion planner. Instead, the
value may be written directly by the application program.
Command Torque has no effect on the axis unless the axis is configured for
Torque Loop operation. In order for the this attribute's value to be applied as the
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torque command, a Motion Drive Start instruction will be executed, which in turn
sets the Direct Torque Control Status bit of the Motion Status Bits attribute. If
this bit is not set, the Command Torque value has no effect on axis motion. Only
CIP Drive Axis data types currently support this capability.
Interpolated Command Position
Usage Access T Data Default Min Max Semantics of Values
Type
Required - E Get/ T REAL - - - Position Units
PV only GSV
The Interpolated Command Position attribute is the interpolation of the
commanded position, based on past axis trajectory history, at the time specified by
the Interpolation Time attribute.
Master Offset
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Master Position Units
PV only GSV* Tag access supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Master Offset attribute is the position offset that is currently applied to the
master side of the position cam. The Master Offset is returned in master position
units. The Master Offset shows the same unwind characteristic as the position of a
linear axis. Tag access is supported but the tag value is valid only when Auto Tag
Update of the Motion Group Object is enabled
Strobe Master Offset
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Master Position Units
PV only GSV
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. The Strobe Master Offset is returned in master
position units. The Strobe Master Offset shows the same unwind characteristic as
the position of a linear axis.
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Start Master Offset
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FPV Get/ T REAL - - - Master Position Units
PV only GSV
The Start Master Offset attribute is the position offset that was applied to the
master side of the position cam when the last Motion Axis Move (MAM)
instruction with the move type set to Absolute Master Offset or Incremental
Master Offset was executed. The Start Master Offset is returned in master
position units. The Start Master Offset shows the same unwind characteristic as
the position of a linear axis.
Direct Command Velocity
Usage Access T Data Default Min Max Semantics of Values
Type
Required - FV Get/ T REAL - - + Position Units / Sec
SSV
The Direct Command Velocity attribute provides tag access to the velocity
command for the specified axis. This can be used to directly control the speed of a
motor when an associated drive is configured for velocity control mode. In order
for this attribute's value to be applied as the velocity command, a Motion Drive
Start instruction will be executed, which in turn sets the Direct Velocity Control
Status bit of the Motion Status Bits attribute. If this bit is not set, the Direct
Command Velocity value has no effect on axis motion. Only CIP Drive Axis data
types currently support this capability.
Interpolated Position Configuration
Usage Access T Data Type Default Min Max Semantics of Values
Required - E Set/ T DWORD 0:0 - - Bitmap
SSV 1:1 0 = 2nd Order Actual Position
Interpolation
1 = 2nd 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.
The 2nd Order Actual Position Interpolation bit controls the order of the
interpolation algorithm used to calculate Interpolated Actual Position based on
Interpolation Time. If the bit is set, 2nd order interpolation is used. If the bit is
clear, 1st order interpolation is used. Generally, 2nd order interpolation results in
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more accurate estimates of position, but if the actual position signal has high levels
of quantization noise, 1st order interpolation gives better results.
The 2nd Order Command Position Interpolation bit controls the order of the
interpolation algorithm used to calculate Interpolated Command Position based
on Interpolation Time. If the bit is set, 2nd order interpolation is used. If the bit is
clear, 1st order interpolation is used. Generally, 2nd order interpolation results in
more accurate estimates of position, but if the command position signal has high
levels of quantization noise, 1st order interpolation gives better results.
See also
Motion Control Interface Attributes on page 440
Motion Control Status These are the motion control status attributes associated with a Motion Control
Axis. The Axis Event Bits are located in Event Capture Attributes.
Attributes
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Motion Status Bits
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All Get/ T DWORD - - - Bitmap
GSV1 0 = AccelStatus
1 = DecelStatus
2 = MoveStatus
3 = JogStatus
4 = GearingStatus
5 = HomingStatus
6 = StoppingStatus
7 = AxisHomedStatus
8 = PositionCamStatus
9 = TimeCamStatus
10 = PositionCamPendingStatus
11 = TimeCamPendingStatus
12 = GearingLockStatus
13 = PositionCamLockStatus
14 = Reserved
15 = Master Offset Move Status
16 = CoordinatedMotionStatus
17 = TransformStateStatus
18 = ControlledByTransformStatus
19 = DirectVelocityControlStatus
20 = DirectTorqueControlStatus
21 = MovePendingStatus
22 = MoveLockStatus
23 = JogPendingStatus
24 = JogLockStatus
25 = MasterOffsetMovePendingStatus
26 = MasterOffsetMoveLockStatus
27 = MaximumSpeedExceeded
28...31 = Reserved
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
This is a bitmapped collection of status conditions associated with the motion
planner function.
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Motion Axis Status Bits Descriptions
This table provides descriptions of the various Motion Axis Status Bits:
Bit Motion Status Description
0 Accel Status The Acceleration and Deceleration Status bit attributes (AccelStatus and DecelStatus)
can be used to determine if the axis is currently being commanded to accelerate or
1 Decel Status
decelerate. If neither bit is set then the axis is running at steady state velocity or at rest.
2 Move Status The MoveStatus bit attribute is set if a Move motion profile is currently in progress. As
soon as the Move is complete or superseded by some other motion operation, the
MoveStatus bit is cleared.
3 Jog Status The JogStatus bit attribute is set if a Jog motion profile is currently in progress. As soon
as the Jog is complete or superseded by some other motion operation, the JogStatus bit
is cleared.
4 Gearing Status The GearingStatus bit attribute is set if the axis is currently Gearing to another axis. As
soon as the gearing operation is stopped or superseded by some other motion
operation, the GearStatus bit is cleared.
5 Homing Status The HomingStatus bit attribute is set if a Home motion profile is currently in progress.
As soon as the Home is complete or superseded by some other motion operation, the
HomeStatus bit is cleared.
6 Stopping Status The StoppingStatus bit attribute is set if there is a stopping process currently in
progress. As soon as the stopping process is complete, the Stopping Status bit is
cleared.
The stopping process is used to stop an axis (initiated by an MAS, MGS, MGSP, Stop
Planner fault action, or mode change). This bit is no longer associated with the gearing
Clutch bit (MAG with Clutch selected), which for I4B has been explicitly named the
GearingLockStatus bit.
7 Homed Status The HomedStatus bit attribute is cleared at powerup or reconnection. The bit is set to 1
by the MAH instruction upon successful completion of the configured homing
sequence. This bit would be later cleared if the axis entered the shutdown state.
The HomedStatus bit is set by the MAH instruction upon successful completion of the
configured homing sequence. This bit indicates that an absolute machine reference
position has been established. When this bit is set, operations that require a machine
reference, such as Software Overtravel checking can be meaningfully enabled.
The HomedStatus bit is cleared under the following conditions:
1. Download, Control power cycle, or Reconnection with Incremental Feedback device.
2. Absolute Position Recovery (APR) fails with Absolute Feedback device.
3. Feedback Integrity bit is cleared by CIP Motion drive.
The HomedStatus bit is directly used by the control system to qualify the Software
Overtravel checking function. Thus, if the HomedStatus bit is clear, Soft Overtravel
checking will not occur even if the Soft Overtravel Checking bit is set.
8 Position Cam Status The PositionCamStatus bit attribute is set if a Position Cam motion profile is currently in
progress. As soon as the Position Cam is complete or superseded by some other motion
operation, the PositionCamStatus bit is cleared.
9 Time Cam Status The TimeCamStatus bit attribute is set if a Time Cam motion profile is currently in
progress. As soon as the Time Cam is complete or superseded by some other motion
operation, the TimeCamStatus bit is cleared.
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Bit Motion Status Description
10 Position Cam Pending The PositionCamPendingStatus bit attribute is set if a Position Cam motion profile is
Status currently pending the completion of a currently executing cam profile. This would be
initiated by executing an MAPC instruction with Pending execution selected.
As soon as the current position cam profile completes, initiating the start of the
pending cam profile, the PositionCamPending Status bit is cleared. This bit is also
cleared if the position cam profile completes, or superseded by some other motion
operation.
11 Time Cam Pending The TimeCamPendingStatus bit attribute is set if a Time Cam motion profile is currently
Status pending the completion of a currently executing cam profile. This would be initiated by
executing an MATC instruction with Pending execution selected.
As soon as the current time cam profile completes, initiating the start of the pending
cam profile, the TimeCamPending status bit is cleared. This bit is also cleared if the time
cam profile completes, or superseded by some other motion operation.
12 Gearing Lock Status The GearingLockStatus bit attribute is set whenever the slave axis is locked to the
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). During the intervals where the axis is
clutching, the GearingLockStatus bit is clear.
13 Position Cam Lock The PositionCamLockStatus bit attribute is set whenever the master axis satisfies the
Status starting condition of a currently active Position Cam motion profile. The starting
condition is established by the Start Control and Start Position parameters of the MAPC
instruction.
As soon as the current position cam profile completes, or is superseded by some other
motion operation, the Position Cam Lock bit is cleared. In unidirectional master
direction mode, the PositionCamLockStatus bit clears when moving in the wrong
direction and sets when moving in the correct direction.
15 Master Offset Move The MasterOffsetMoveStatus bit attribute is set if a Master Offset Move motion profile is
Status currently in progress.
As soon as the Master Offset Move is complete or superseded by some other motion
operation, the MasterOffsetMoveStatus bit is cleared.
16 Coordinated Motion The CoordinatedMotionStatus bit attribute is set if any coordinated motion profile is
Status currently active upon this axis.
As soon as the Coordinated Motion is complete or stopped, the
CoordinatedMotionStatus bit is cleared.
17 Transform State The Transform State Status bit is set if the axis in involved in a transform. The axis is in
Status one of the coordinate systems specified in an active MCT instruction. True will indicate
the axis is involved in a transform, false will indicate it is not.
18 Controlled By The Controlled By Transform Status bit is set if the axis is under transform control. True
Transform Status indicates the axis is under transform control and false indicates it is not under transform
control. An axis under transform control cannot be commanded to move.
19 Direct Velocity Control When the Direct Velocity Control Status bit is set, the axis speed is directly controlled by
Status the Direct Command Velocity value.
This bit is set by the Motion Drive Start instruction (MDS) and only applies to CIP Drive
axis types.
20 Direct Torque Control When the Direct Torque Control Status bit is set, the axis torque is directly controlled by
Status the Command Torque value.
This bit is set by the Motion Drive start instruction (MDS) and only applies to CIP Drive
axis types.
21 Move Pending Status -
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Bit Motion Status Description
22 Move Lock Status The MoveLockStatus bit is set when the master axis satisfies the Lock Direction request
of a Motion Axis Move (MAM) Instruction. If the Lock Direction is Immediate Forward
Only or Immediate Reverse Only the MoveLockStatus bit will be set immediately when
the MAM is initiated. If the Lock Direction is Position Forward Only or Position Reverse
Only the bit will be set when the Master Axis crosses the Master Lock Position in the
specified direction.
The MoveLockStatus bit is cleared when the Master Axis reverses direction and the
Slave Axis stops following the Master Axis. The MoveLockStatus bit is set again when
the Slave Axis resumes following the Master Axis.
23 Jog Pending Status -
24 Jog Lock Status The JogLockStatus bit is set when the master axis satisfies the Lock Direction request of
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. If the Lock Direction is Position Forward Only or Position Reverse Only the bit
will be set when the Master Axis crosses the Master Lock Position in the specified
direction.
The JogLockStatus bit is cleared when the Master Axis reverses direction and the Slave
Axis stops following the Master Axis. The JogLockStatus bit is set again when the Slave
Axis resumes following the Master Axis.
25 Master Offset Move -
Pending Status
26 Master Offset Move The MasterOffsetMoveLockStatus bit is set when the master axis satisfies the Lock
Lock Status Direction request of a Master Offset Move executed using MAM instruction. If the Lock
Direction is Immediate Forward Only or Immediate Reverse Only the
MasterOffsetMoveLockStatus bit will be set immediately when the MAM is initiated. If
the Lock Direction is Position Forward Only or Position Reverse Only the bit will be set
when the Master Axis crosses the Master Lock Position in the specified direction.
The MasterOffsetMoveLockStatus bit is cleared when the Master Axis reverses direction
and the Slave Axis stops following the Master Axis. The MasterOffsetMoveLockStatus bit
is set again when the Slave Axis resumes following the Master Axis.
27 Maximum Speed The MaximumSpeedExceeded bit is set when the axis command velocity at any time
Exceeded exceeds the maximum speed configured for an axis. The bit will be cleared when the
axis velocity is reduced below the maximum speed.
Axis Status Bits
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/ T DWORD - - - 0 = ServoActionStatus
GSV1 1 = DriveEnableStatus
2 = AxisShutdownStatus
3 = ConfigurationUpdateInProcess
4 = InhibitStatus
5 = DirectControlStatus
6 = AxisUpdateStatus
7...31 = Reserved
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
The Axis Status Bits attribute is a collection of basic status conditions associated
with the axis. These represent key status conditions used by the system in
executing motion control instructions.
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This table provides descriptions of the Axis Status Bits:
Bit Axis Status Description
0 Servo Action Status The ServoActionStatus bit attribute is set when the associated axis motor control function
is tracking command reference from the controller.
1 Drive Enable Status The DriveEnableStatus bit attribute is set when the power structure associated with the
axis is currently enabled. If the bit is not set then the power structure associated with the
axis is currently disabled.
2 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.
3 Configuration The Configuration Update in Process Status Bits attribute provides a method for
Update in Process monitoring the progress of one or more specific module configuration attribute updates
initiated by either a Set Attribute List service or an SSV in the user program. As soon as
such an update is initiated, the Logix processor sets the ConfigurationUpdateInProcess
bit.
The bit remains set until the Set Attribute List reply comes back from the servo module
indicating that the data update process was successful. Thus the Configuration Update In
Process Status Bits attribute provides a method of waiting until the servo configuration
data update to the connected motion module is complete before starting a dependent
operation.
4 Inhibit Status The InhibitStatus bit attribute is set when the axis is in the inhibited state. This bit can
also be used to determine when an inhibit/uninhibit operation has been completed (for
example, connections have been shutdown, reconnected and then the reconfiguration
process completed). During the inhibit/uninhibit process this bit will remain in the
previous state and then once it completes it will be updated to the new state.
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5 Direct Control Status When the Direct Control Status bit is set, axis motion is driven by the Direct Velocity
Control and Direct Torque Control functions. In this mode, the Motion Planner
functionality is disabled. So if you attempt to move the axis with a Motion Planner
instruction, for example, MAM, MAJ, and MAG, a ran instruction error occurs.
In Direct Control, you do not have to establish or maintain absolute reference position.
So, when you attempt to execute the MAH and MRP instructions, an instruction error
occurs.
When the Direct Control Status bit is clear, axis motion is controlled by the Motion
Planner. If you attempt to move the axis in this mode with a Direct Control instruction,
for example, an MDS, an instruction error occurs. This bit only applies to CIP Drive axis
types.
The illustration describes the following behavior.
The Direct Control Status bit is set by the Motion Drive Start instruction (MDS) and once
set, can only be cleared by executing an MSO instruction from the Stopped or Stopping
State. Similarly, once the Direct Control Status bit is cleared by the Motion Servo On
instruction (MSO), the bit can only be set again by executing an MDS instruction from the
Stopped or Stopping State.
6 Axis Update Status The Axis Update bit indicates whether or not this axis instance was updated in last
execution of Motion Task. In general, axis instances are updated in Motion Task according
to their Axis Update Schedule. Thus, a given axis instance may or may not be updated
during Motion Task execution. When inspected as part of an Event Task triggered by
Motion Group Execution, the Axis Update bit can be used to qualify program instructions
based on whether or not the axis was updated by the preceding Motion Task.
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Axis Fault Bits
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV 1
T DWORD - - - Bitmap
0 = PhysicalAxisFault
1 = ModuleFault
2 = ConfigurationFault
3 = GroupFault
4 = MotionFault
5 = GuardFault
6 = InitializationFault
7 = APRFault
8 = SafetyFault
9...31 = Reserved
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
The Axis Fault Bits attribute is a collection of basic fault types associated with the
axis. Each valid axis fault type is assigned a bit in this word. Any fault condition
associated with a given fault type will result in the setting of the appropriate fault
bit.
Each bit in the Axis Fault Bits attribute represents a roll-up of the associated fault
types. One or more faults of a given fault type result in the associated bit of the
Axis Fault Bits attribute being set.
This table provides descriptions of the Axis Fault Bits:
Bit Name Description
0 Physical Axis Fault If the Physical Axis Fault bit is set, it indicates that one or more fault conditions have been
reported by the physical axis. The specific fault conditions can then be determined through
access to the axis data type specific fault attributes of the associated physical axis.
For CIP Drive axis data types, Physical Axis Faults map to standard CIP Axis Faults attribute
or manufacturer specific CIP Axis Faults.
1 Module Fault The Module Fault bit attribute is set when one or more faults have occurred related to the
motion module associated with the selected axis. The specific fault conditions can then be
determined through access to the Module Fault attribute of the associated axis. Usually a
module fault impacts all axes associated with the motion module. A module fault
generally results in the shutdown of all associated axes. Reconfiguration of the motion
module is required to recover from a module fault condition.
2 Configuration The Configuration Fault bit is set when an update operation targeting an axis configuration
Fault attribute of an associated motion module has failed. Specific information concerning the
Configuration Fault may be found in the Attribute Error Code and Attribute Error ID
attributes associated with the motion module.
3 Group Fault The Group Fault bit attribute is set when one or more faults have occurred related to the
motion group associated with the selected axis. The specific fault conditions can then be
determined through access to the Group Fault attribute of the associated motion group.
Usually a group fault impacts all axes associated with the motion group. A group fault
generally results in the shutdown of all associated axes. Reconfiguration of the entire
motion subsystem is required to recover from a group fault condition.
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Bit Name Description
4 Motion Fault If the Motion Fault bit is set, it indicates that one or more fault conditions have occurred
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.
5 Guard Fault If the Guard Fault bit is set, it indicates that one or more fault conditions have occurred
related to the embedded Guard Motion safety function. The specific fault conditions can
then be determined through access to the Guard Fault attribute of the associated axis.
Guard Faults are only applicable if the drive device is equipped with "Hardwired" Guard
Safety functionality.
6 Initialization Fault The Initialization Fault bit is set when initialization of a CIP Motion device fails for any
reason. Specific information concerning the Initialization Fault may be found either in the
standard CIP Initialization attributes or in the manufacturer specific CIP Initialization Fault
attributes associated with the CIP Drive axis data types.
7 APR Fault The APR (Absolute Position Recovery) Fault bit is set when during axis configuration the
system is not able to recover the absolute position of the axis. Specific information
concerning the APR Fault may be found either in the standard APR Fault attributes or int
he manufacturer specific APR Fault attributes associated with the CIP Drive axis data types.
8 Safety Fault If the Safety Fault bit is set, it indicates that there is one or more fault conditions have
occurred related to the axis safety function. The specific fault conditions can then be
determined through access to the Axis Safety Fault attributes of the associated axis. Safety
Faults are only applicable if the motion device supports "Networked" Safety functionality
through a CIP Safety connection.
Axis Event Bits
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/GSV1 T DWORD - - - Bitmap - AxisFault
0 = WatchEventArmedStatus
1 = WatchEventStatus
2 = RegEvent1ArmedStatus
3 = RegEvent1Status
4 = RegEvent2ArmedStatus
5 = RegEvent2Status
6 = HomeEventArmedStatus
7 = HomeEventStatus
8... 31= Reserved
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
The Axis Event Bit attributes are a collection of basic event conditions. This
attribute is for use primarily by the system during execution of various Motion
Event instructions.
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Axis Event Bit Descriptions
Bit Name Description
0 Watch Event Armed Status The Watch Event Armed Status bit attribute is set when a watch
event has been armed through execution of the MAW (Motion Arm
Watch) instruction. This bit is cleared when either a watch event
occurs or a MDW (Motion Disarm Watch) instruction is executed.
1 Watch Event Status The Watch Event Status bit attribute is set when a watch event has
occurred. This bit is cleared when either another MAW (Motion Arm
Watch) instruction or a MDW (Motion Disarm Watch) instruction is
executed.
2 Registration 1 Event Armed Status The Registration 1 Event Armed Status bit attribute is set when a
registration checking has been armed for registration input 1
through execution of the MAR (Motion Arm Registration)
instruction. This bit is cleared when either a registration event
occurs or a MDR (Motion Disarm Registration) instruction is
executed for registration input 1.
3 Registration 1 Event Status The Registration 1 Event Status bit attribute is set when a
registration event has occurred on registration input 1. This bit is
cleared when either another MAR (Motion Arm Registration)
instruction or a MDR (Motion Disarm Registration) instruction is
executed for registration input 1.
4 Registration 2 Event Armed Status The Registration 2 Event Armed Status bit attribute is set when a
registration checking has been armed for registration input 2
through execution of the MAR (Motion Arm Registration)
instruction. This bit is cleared when either a registration event
occurs or a MDR (Motion Disarm Registration) instruction is
executed for registration input 2.
5 Registration 2 Event Status The Registration 2 Event Status bit attribute is set when a
registration event has occurred on registration input 2. This bit is
cleared when either another MAR (Motion Arm Registration)
instruction or a MDR (Motion Disarm Registration) instruction is
executed for registration input 2.
6 Home Event Armed Status The Home Event Armed Status bit attribute is set when a home
event has been armed and is used by the MAH (Motion Axis Home)
instruction to manage various homing events that occur during the
configured homing sequence. This bit is cleared when a home event
occurs.
7 Home Event Status The Home Event Status bit attribute is set when a home event has
occurred and is used by the MAH (Motion Axis Home) instruction to
manage various homing events that occur during the configured
homing sequence. This bit is cleared when another MAH instruction
is executed.
Output Cam Status
Usage Access T Data Type Default Min Max Semantics of Values
Required - E Get/ T DWORD - - - Set of Output Cam Status bits.
GSV1
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
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The Output Cam Status bit is set when an Output Cam has been initiated. The
Output Cam Status bit is reset when the cam position moves beyond the cam start
or cam end position in "Once" execution mode with no Output Cam pending or
when the Output Cam is terminated by a Motion Disarm Output Cam (MDOC)
instruction.
Output Cam Pending Status
Usage Access T Data Type Default Min Max Semantics of Values
Required - E Get/ T DWORD - - - Set of Output Cam Pending Status
GSV1 bits.
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
The Output Cam Pending Status bit is set if an Output Cam is currently pending
the completion of another Output Cam. This would be initiated by executing an
Motion Arm Output Cam (MAOC) instruction with Pending execution selected.
As soon as this output cam is armed, being triggered when the currently executing
Output Cam has completed, the Output Cam Pending bit is cleared. This bit is
also cleared if the Output Cam is terminated by a Motion Disarm Output Cam
(MDOC) instruction.
Output Cam Lock Status
Usage Access T Data Type Default Min Max Semantics of Values
Required - E Get/ T DWORD - - - Set of Output Cam Lock Status
GSV1 bits.
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
The Output Cam Lock Status bit is set when an Output Cam has been armed.
This would be initiated by executing a Motion Arm Output Cam (MAOC)
instruction with Immediate execution selected, when a pending output cam
changes to armed, or when the axis approaches or passes through the specified axis
arm position. As soon as this output cam current position moves beyond the cam
start or cam stop position, the Output Cam Lock bit is cleared. This bit is also
cleared if the Output Cam is terminated by a Motion Disarm Output Cam
(MDOC) instruction.
Output Cam Transition Status
Usage Access T Data Type Default Min Max Semantics of Values
Required - E Get/ T DWORD - - - Set of Output Cam Transition
GSV1 Status bits.
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
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The Output Cam Transition Status bit is set when a transition between the
currently armed and the pending Output Cam is in process. Therefore, each
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.
Motion Alarm Bits and Motion Fault Bits
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Get/ T DWORD - - - Bitmap - MotionAlarm
GSV1 0 = Reserved
1 = SoftTravelLimitPositiveAlarm
2 = SoftTravelLimitNegativeAlarm
3...31 = Reserved
Required - All Get/ T DWORD - - - Bitmap - MotionFault
GSV1 0 = Reserved
1 = SoftTravelLimitPositiveFault
2 = SoftTravelLimitNegativeFault
3...31 = Reserved
1
Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application.
Motion Alarm Bits and Motion Fault Bits Descriptions
Bit Name Description
0 Reserved -
1 SoftTravelLimitPositiveAlarm This exception condition occurs when Soft Travel Checking is
SoftTravelLimitPositiveFault enabled and when actual position has exceeded the configured Soft
Travel Limit - Positive attribute value while commanding motion in
the positive 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. Any attempt, however, to move the axis further beyond the
Soft Travel Limit - Positive value using a motion instruction will
result in an instruction error.
For commanded axes, the Soft Travel Fault can be cleared with a
Fault Reset while the axis position is beyond the Soft Travel Limit -
Positive value to allow the axis to be moved back within the Soft
Travel Limits. As long as the axis is not commanded to move further
away from the travel limit, no Soft Travel Limit Fault shall be
generated.
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Bit Name Description
2 SoftTravelLimitNegativeAlarm This exception condition occurs when Soft Travel Checking is
SoftTravelLimitNegativeFault enabled and when actual position has exceeded the configured Soft
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. Any attempt, however, to move the axis further beyond the
Soft Travel Limit - Negative value using a motion instruction will
result in an instruction error.
For commanded axes, the Soft Travel Limit Fault can be cleared
with a Fault Reset while the axis position is beyond the Soft Travel
Limit - Negative value to allow the axis to be moved back within the
Soft Travel Limits. As long as the axis is not commanded to move
further away from the travel limit, no Soft Travel Limit Fault shall be
generated.
3...31 Reserved -
See also
Event Capture Attributes on page 332
Exceptions on page 47
Event Capture Attributes on page 332
APR Fault Attributes on page 376
Motion Database Storage The following are the Motion Database Storage attributes associated with a
Motion Control Axis.
Attributes
System Acceleration Base
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - C Set REAL 0 0 Motor Units/sec2 @ 100 % Rated
DB
This floating point value represents the acceleration of the selected unloaded
motor based on 100% Rated current and used to compute System Inertia. This
attribute is used to store the original System Acceleration value for subsequent
upload.
Drive Model Time Constant Base
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - C Set REAL .0015 0 Sec
DB
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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. The Drive Model Time Constant Base (DMTC_Base) is computed based
on the current loop bandwidth, the velocity loop update time and the feedback
sample period according to the following formula:
DMTC_Base = 2 * 1/(2*PI*Current Loop Bandwidth(Hz)) + Velocity Loop
Update Period + Feedback Sample Period/2
Drive Rated Peak Current
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - C Set REAL 0 0 Amps
DB
This floating point value represents the peak current rating associated with the
drive device and used to compute peak torque and acceleration limits. This
attribute is used to store the original Drive Rated Peak Current value for
subsequent upload.
Bus Overvoltage Operational Limit
Data
Usage Access T Default Min Max Semantics of Values
Type
Optional - C Set REAL 0 0 Volts
DB
This floating point value represents the maximum DC Bus voltage level that can
be sustained during drive operation, which is used to calculate the factory default
value for PM Motor Rotary Bus Overvoltage Speed or the PM Motor Linear Bus
Overvoltage Speed associated with PM motor types. This attribute is used to store
the Bus Overvoltage Operational Limit value used in this calculation for
subsequent upload.
Converter Model Time Constant Base
Data
Usage Access T Default Min Max Semantics of Values
Type
Optional - C Set REAL 0.001 0 Seconds
DB
This floating point value represents the lumped model time constant associated
with the regenerative converter device for the purposes of computing loop gains.
This attribute is used to store the original Converter Model Time Constant value
for subsequent upload. The Converter Model Time Constant Base is computed
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based on the converter current loop bandwidth, the bus voltage loop update time
and the bus voltage feedback sample period according to the following formula:
CMTC_Base = 2 * 1/(2*PI*Current Loop Bandwidth(Hz)) + Bus Voltage Loop
Update Period
Converter Current Loop Bandwidth Base
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - G Set REAL 0 0 Hz
DB
This floating point value represents the default bandwidth for the active and
reactive current loops for the regenerative converter. This attribute is used to store
the original default Converter Current Loop Bandwidth value that was used to
compute the Converter Model Time Constant that is the basis for tuning the
converter.
Converter Rated Current
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - G Set REAL 0 0 Amps
DB
This floating point value represents the continuous output current rating
associated with the regenerative converter and used to compute the System
Capacitance scaling attribute value from the Total Capacitance of the DC Bus.
This attribute is used to store the original Converter Rated Current value for
subsequent upload.
Converter Rated Peak Current
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - G Set REAL 0 0 Amps
DB
This floating point value represents the peak output current rating associated with
the regenerative converter and used together with the Converter Rated Current to
compute the default Converter Current Vector Limit attribute value. This
attribute is used to store the original Converter Rated Peak Current value for
subsequent upload.
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Converter Rated Voltage
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - G Set REAL 0 0 Volts (RMS)
DB
This floating point value represents the input voltage rating associated with the
regenerative converter and used to compute the Bus Voltage Set Point attribute
value. This attribute is used to store the original Converter Rated Voltage value for
subsequent upload.
Converter DC Bus Capacitance
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - G Set REAL 0 0 F (Amps)
DB
This floating point value represents the internal bus capacitance of the
regenerative converter and is used to compute the System Capacitance scaling
attribute. This attribute is used to store the original Converter DC Bus
Capacitance value for subsequent upload.
Converter Rated Power
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - G Set REAL 0 0 kVA
DB
This floating point value represents the power rating of the converter. This
attribute is used to estimate the default AC Line Source Power value.
Current Loop Bandwidth Scaling Factor
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - C Set REAL 0 0
DB
This floating point value represents the scaling factor, based on motor type, which
is used to set the factory default value for Torque Loop Bandwidth. This attribute
is used to store the original Current Loop Bandwidth Scaling Factor value for
subsequent upload.
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Drive Rated Voltage
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - D Set REAL 0 0 V rms
DB
This floating point value represents the RMS voltage rating of the drive that is
used to set the factory default value for the Break Voltage associated with V/Hz
drives. This attribute is used to store the original Drive Rated Voltage value for
subsequent upload.
Max Output Frequency
Data
Usage Access T Default Min Max Semantics of Values
Type
Required - D Set REAL 0 0 Hz
DB
This floating point value represents the maximum frequency rating of the drive
that is used to set the factory default values for Velocity Limits. This attribute is
used to store the original Max Output Frequency value for subsequent upload.
See also
Auto-Tune Configuration Attributes on page 354
Motor Test Result Attributes on page 373
Hookup Test Result Attributes on page 364
Inertia Test Result Attributes on page 370
Converter Bus Voltage Control Configuration Attributes on page 604
Motion Dynamic Configuration These are the motion dynamic configuration attributes associated with a Motion
Control Axis.
Attributes
Maximum Speed
Usage Access Data Default Min Max Semantics of Values
Type
Required - Set/ REAL FD 0 maxspd Position Units / Sec
FPV SSV
The value of the Maximum Speed attribute is used by various motion instructions
to determine the steady-state speed of the axis. These instructions all have the
option of specifying speed as a percent of the Maximum Speed attribute value for
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the axis. This value is typically set to ~85% of the maximum speed rating of the
motor. This provides sufficient 'head-room' for the axis to operate at all times
within the speed limitations of the motor.
Maximum Acceleration and Maximum Deceleration
Usage Access Attribute Name Data Default Min Max Semantics of
Type Values
Required - Set/ Maximum REAL FD 0 maxacc Position Units / Sec2
FPV SSV Acceleration
Required - Set/ Maximum REAL FD 0 maxacc Position Units / Sec2
FPV SSV Deceleration
The Maximum Acceleration value is frequently used by motion instructions, (for
example, MAJ, MAM, and MCD) to determine the acceleration rate to apply to
the axis. These instructions all have the option of specifying acceleration as a
percent of the Maximum Acceleration for the axis. This value is typically set to
~70% of the maximum acceleration rate of the axis. This provides sufficient
'head-room' for the axis to operate at all times within the acceleration limits of the
drive and motor.
The Maximum Deceleration attribute value is frequently used by motion
instructions, (for example, MAJ, MAM, and MCD), to determine the
deceleration rates to apply to the axis. These instructions all have the option of
specifying deceleration as a percent of the Maximum Deceleration for the axis.
This value is typically set to ~70% of the maximum deceleration rate of the axis.
This provides sufficient 'head-room' for the axis to operate at all times within the
deceleration limits of the drive and motor.
Setting the Maximum Deceleration to zero with a SSV command will generate a
minor fault. Motion on an axis cannot start with a deceleration of zero, so this
value will not be accepted.
Programmed Stop Mode
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/ USINT 0 - - Enumeration
SSV 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
to 'programmed'.
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There are currently four modes defined for the Logix processor: Program Mode,
Run Mode, Test Mode, and Faulted Mode. Any mode change into or out of
program mode (prog - >run, prog->test, run->prog & test->prog) will initiate a
programmed stop for every axis owned by that processor.
There is a time-out period of 60 seconds applied to the programmed stop process,
after which the mode change will occur, even if motion on one or more axes has
not stopped. Each individual axis can have its own Programmed Stop Mode
configuration independent of other axes. Five methods of stopping a given axis are
currently supported.
Method Description
Fast Stop When the Programmed Stop Mode attribute is configured for Fast Stop, the axis is decelerated to
a stop using the current configured value for Maximum Deceleration. Servo action is maintained
after the axis motion has stopped.
Fast Disable When the Programmed Stop Mode attribute is configured for Fast Disable, the axis is decelerated
to a stop using the current configured value for Maximum Deceleration. Servo action is
maintained until the axis motion has stopped at which time the axis is disabled, for example,
Drive Enable disabled, and Servo Action disabled.
Hard Disable When configured for Hard Disable, the axis is immediately disabled, for example, Drive Enable
disabled, Servo Action disabled, but the OK contact is left closed. Unless the drive is configured to
provide some form of dynamic braking, this results in the axis coasting to a stop.
Fast Shutdown When configured for Fast Shutdown, the axis is decelerated to a stop as with Fast Stop but, once
the axis motion is stopped, the axis is placed in the Shutdown state, for example, Drive Enable
disabled, Servo Action disabled, and the OK contact opened. Recovering from the Shutdown state
requires execution of one of the axis or group Shutdown Reset instructions (MASR or MGSR).
Hard Shutdown When configured for Hard Shutdown, the axis is immediately placed in the Shutdown state, for
example, Drive Enable disabled, Servo Action disabled. Unless the drive is configured to provide
some form of dynamic braking, this results in the axis coasting to a stop. To recover from the
Shutdown state requires execution of one of the axis or group Shutdown Reset instructions
(MASR or MGSR).
Maximum Acceleration Jerk
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV Set/ REAL FD 0 Position Units / Sec3
SSV
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. This
value is only used by an S-Curve profile. Setting the Maximum Acceleration Jerk
to zero with a SSV command will generate a minor fault. Motion on an axis
cannot start with an acceleration of zero, so this value will not be accepted.
Maximum Acceleration Jerk may be calculated in terms of a percent of
acceleration time spent while S-Curving.
In this case, 0 <= %time <= 100 %
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Maximum Deceleration Jerk
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV Set/ REAL FD 0 Position Units / Sec3
SSV
The Maximum Deceleration Jerk attribute value is used by motion instructions,
for example, MAM and MAJ, to determine the deceleration jerk to apply to the
axis when the deceleration jerk is specified as a percent of the Maximum. This
value is only used by an S-Curve profile. Setting the Maximum Deceleration Jerk
to zero with a SSV command will generate a minor fault. Motion on an axis
cannot start with a deceleration of zero, so this value will not be accepted.
Maximum Deceleration Jerk may be calculated in terms of a percent of
deceleration time spent while S-Curving.
In this case, 0 <= %time <= 100 %
Dynamics Configuration Bits
Usage Access Data Type Default Min Max Semantics of Values
Required - Set/ DWORD 0:1 - - 0 = Reduce S-Curve Stop Delay
FPV SSV 1:1 1 = Prevent S-Curve Velocity
2:0 Reversals
2 = Reduced Extreme Velocity
Overshoot
3-31 = Reserved
This attribute is a collection of bits that control the operation of the motion
planner dynamics.
Bit Name Description
0 Reduce S-Curve Stop Delay Enables or disables the reduction of latency time when stopping
motion with S-Curve velocity profile (MAS instruction).
1 Prevent S-Curve Velocity Reversals Enables the prevention of unwanted velocity reversals when the
deceleration rate is being dynamically changed (MAS
instruction).
2 Reduced Extreme Velocity Overshoot This bit limits the velocity overshoot to 50% of the programmed
velocity by increasing the acceleration jerk as necessary.
3-31 Reserved
See also
CIP Axis Attributes on page 259
Motion Control Axis Behavior Model on page 57
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Motion Homing Configuration Use Homing functionality to establish a machine reference position or Home
Position for the associated axis. Homing configuration attributes are often only
Attributes
applicable when there is an associated position feedback device. If the drive is
configured for Encoderless or Sensorless operation, the homing function is not
applicable.
Home Mode
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV USINT 1 - - Enumeration
0 = Passive
1 = Active (!N)
2-55 = Reserved
The Home Mode attribute determines if homing actively moves the axis to
generate the homing event or if the axis is to be moved by some external agent to
generate the homing event.
There Motion axis supports active and passive homing modes. Active homing is
the most common homing procedure for physical servo axes but does not apply
when Axis Configuration is Feedback Only since it requires active control of the
axis.
Homing Mode Description
Active After selecting the active homing mode, select the desired homing sequence specifying if a home
limit switch, a specified torque level, and/or the encoder marker is used for this axis. Active homing
sequences use the trapezoidal velocity profile with dynamics defined by Home Speed, Home
Return Speed, Home Acceleration, and Home Deceleration. The Home Sequence attribute section
describes the available active homing sequences.
If the configured feedback type does not support a marker signal, the marker, switch then marker,
and home to torque then marker homing sequences are not applicable.
Passive Passive homing redefines the current absolute position of the axis on when a home switch,
encoder marker, or home to torque event triggers. Passive homing is often used to calibrate
uncontrolled axes. It is also used with controlled axes to create a custom homing sequence.
Passive homing operates similarly to the corresponding active homing sequence for a given home
sequence. No motion is commanded-the controller just waits for the switch, marker, or torque
events to occur. If the configured feedback type does not support a marker signal, the marker and
switch then marker, and home to torque then marker homing sequences are not applicable.
Home Direction
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set/SSV USINT 1 - - Enumeration
PV Only 0 = Unidirectional forward
1 = Bidirectional forward
2 = Unidirectional reverse
3 = Bidirectional reverse
4-255 = Reserved
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The Home Direction attribute is the starting direction of a Homing Sequence
when configured for active Home Mode.
This attribute is only valid for position and velocity control.
Home Sequence
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV USINT 0 - - Enumeration
0 = Immediate (default)
1 = Home to switch (O)
2 = Home to marker (O)
3 = Home to switch then marker
(O)
4 = Home to torque (O)
5 = Home to torque then marker
(O)
6-255 = Reserved
Determines the motion sequencing used to trigger the desired homing events.
Filtering of optional enumerations based on available hardware support and
feedback interface hardware.
Home Sequence Descriptions
Homing Sequence Types Description
Active Immediate Home This is the simplest active homing sequence type. The axis actual position and
command positions are updated based on the configured Home Position.
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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.
The axis then decelerates to a stop at the specified Home Deceleration and then moves
in the opposite direction at the specified Home Return Speed and Home Acceleration
until the home limit switch is cleared.
When the home limit switch is cleared, axis position is immediately redefined to be
equal to the Home Position and the axis decelerates to a stop at the specified Home
Direction.
If Home Offset is non-zero, then the Home Position will be offset from the point where
the home switch is cleared by this value. Once the axis decelerates to a stop at the
specified Home Deceleration, the controller then moves the axis back to the Home
Position at the Home Return Speed and Home Acceleration using a trapezoidal move
profile.
If the axis is configured in Cyclic Travel Mode, the move back to the Home Position takes
the shortest path, for example, no more than ½ revolution. The axis behavior for this
active homing sequence is depicted in the following diagram:
If the controller detects that the state of the home switch at the start of the homing
sequence is active, the controller immediately reverses the homing direction and
begins the return leg of the homing sequence.
Neglecting the mechanical uncertainty of the home limit switch, the accuracy of this
homing sequence depends on the time uncertainty in detecting the home limit switch
transitions. The position uncertainty of the home position is the product of the
maximum time for the control to detect the home limit switch (~10 milliseconds) and
the specified Home Return Speed. For this reason, the Home Return Speed is often
made significantly slower than the Home Speed.
For example, if a Home Return Speed of 0.1 inches per second (6 IPM) is specified, the
uncertainty of the home position is calculated as shown below:
Uncertainty = 0.1 Inch/Sec * 0.01 Sec = 0.001 Inch.
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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. The Home Position is
then assigned to the axis position corresponding to the marker location, and the axis
decelerates to a stop at the specified Home Deceleration.
If Home Offset is non-zero, then the Home Position will be offset from the point where
the marker is detected by this value. The controller then moves the axis back to the
Home Position at the specified Home Return Speed and Home Acceleration using a
trapezoidal move profile. If the axis is configured as a Cyclic Travel Mode, the move back
to the Home Position takes the shortest path (for example, no more than ½ revolution).
The axis behavior for this homing sequence is depicted in the following diagram:
The accuracy of this homing sequence depends only on the time delay in detecting the
marker transition. The position uncertainty of the home position is the product of the
maximum delay for the control to detect the marker pulse (~1 microsecond) and the
specified Home Speed.
For example, if a Home Speed of 1 inches per second (60 IPM) is specified, the
uncertainty of the home position is calculated as shown below:
Uncertainty = 1 Inch/Sec * 0.000001 Sec = 0.000001 Inch.
Active Bidirectional Home to This is the most precise active homing sequence available. When this sequence is
Switch then Marker performed, the axis moves in the specified Home Direction at the specified Home Speed
and Home Acceleration until the home limit switch is detected. The axis then
decelerates to a stop at the specified Home Deceleration and moves in the opposite
direction at the specified Home Return Speed and Home Acceleration until the home
limit switch is cleared. After clearing the home limit switch, the axis continues in the
same direction at the Home Return Speed until the first encoder marker is detected.
The Home Position is assigned to the axis position at the moment that the marker is
detected, and the axis then decelerates to a stop at the specified Home Deceleration. If
Home Offset is non-zero, then the Home Position will be offset from the point where
the marker is detected by this value. The controller then moves the axis back to the
Home Position at the specified Home Return Speed and Home Acceleration using a
trapezoidal move profile.
If the axis is configured in Cyclic Travel Mode, the move back to the Home Position takes
the shortest path (for example, no more than ½ revolution). Axis behavior for this
active homing sequence is depicted in the following diagram:
If the controller detects that the state of the home switch at the start of the homing
sequence is active, the controller immediately reverses the homing direction and
begins the return leg of the homing sequence.
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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.
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. If the Home Offset is zero, the Home Position is assigned to
the axis position at the moment that the limit switch is detected and the axis
decelerates to a stop at the specified Home Deceleration.
If Home Offset is non-zero, then the Home Position will be offset from the point where
the switch is detected by this value. The controller then continues to move the axis to
the Home Position at the specified Home Speed and Home Acceleration using a
trapezoidal move profile.
By setting a Home Offset greater than the deceleration distance, unidirectional motion
to the Home Position is insured. However, if the Home Offset value is less than the
deceleration distance, then the axis is simply decelerated to a stop at the specified
Home Deceleration. The axis does not reverse direction to move to the Home Position.
In this case, the PC-bit leg of the associated MAH instruction is not set when the IP-bit
leg is cleared.
In the case where this homing sequence is performed on a cyclic axis and the Home
Offset value is less than the deceleration distance when the home event is detected, the
control automatically adds one or more revolutions to the move distance. This
guarantees the resulting move to the Home Position is unidirectional.
Active Unidirectional Home to This active homing sequence is useful for single turn rotary and linear encoder
Marker applications when 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
marker is detected. If the Home Offset is zero, the Home Position is assigned to the axis
position at the moment that the marker is detected and the axis decelerates to a stop at
the specified Home Deceleration.
If Home Offset is non-zero, then the Home Position will be offset from the point where
the marker was detected by this value. The controller then continues to move the axis
to the Home Position at the specified Home Speed and Home Acceleration using a
trapezoidal move profile.
The axis position is updated based on the Home Position and Home Offset. Even if the
Home Offset is zero, the position is updated. Zero is a valid number.
By setting a Home Offset greater than the deceleration distance, unidirectional motion
to the Home Position is insured. However, if the Home Offset value is less than the
deceleration distance, then the axis is simply decelerated to a stop at the specified
Home Deceleration. The axis does not reverse direction to move to the Home Position.
In this case, the PC-bit leg of the associated MAH instruction is not set when the IP-bit
leg is cleared.
In the case where this homing sequence is performed on a cyclic axis and the Home
Offset value is less than the deceleration distance when the home event is detected, the
control automatically adds one or more revolutions to the move distance. This
guarantees the resulting move to the Home Position is unidirectional.
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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. The axis continues in the same direction at the Home Speed
until the first marker event is detected. If the Home Offset is zero, the Home Position is
assigned to the axis position at the precise position where the marker was detected,
and the axis decelerates to a stop at the specified Home Deceleration. The axis position
is updated based on the Home Position and Home Offset.
If Home Offset is non-zero, then the Home Position will be offset from the point where
the marker was detected by this value. The controller then continues to move the axis
to the Home Position at the specified Home Speed and Home Acceleration using a
trapezoidal move profile.
By setting a Home Offset greater than the deceleration distance, unidirectional motion
to the Home Position is insured. However, if the Home Offset value is less than the
deceleration distance, then the axis is simply decelerated to a stop at the specified
Home Deceleration. The axis does not reverse direction to move to the Home Position.
In this case, the PC-bit leg of the associated MAH instruction is not set when the IP-bit
leg is cleared.
In the case where this homing sequence is performed on a cyclic axis and the Home
Offset value is less than the deceleration distance when the home event is detected, the
control automatically adds one or more revolutions to the move distance. This
guarantees the resulting move to the Home Position is unidirectional.
If the controller detects that the state of the home switch at the start of the homing
sequence is active, the controller immediately establishes the Home Position based on
the current axis position, and if allowed by the unidirectional motion constraint, begins
to move to the Home Position.
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Homing Sequence Types Description
Active Home to Torque The Home to Torque sequence is applicable when a hard stop is used to establish the
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. Since the Home to
Torque sequence relies on the mechanical end of travel for operation, Unidirectional
homing will not be possible so only Forward Bidirectional and Reverse Bidirectional are
allowed. A delay filter is implemented in the drive to reduce any false/nuisance triggers
when there is a spike in the torque feedback upon enabling or jobbing the motor under
the load.
At the start of the Home to Torque sequences, the controller overrides the Torque Limit
Positive/Negative attribute values in the drive with the Home Torque Level value and
overrides the Position and Velocity Error Tolerances, saving the original values. The
drive then begins monitoring the torque reference signal, waiting for it to exceed the
Home Torque Threshold. The torque level must exceed the Home Torque Threshold for
an interval given by Home Torque Time to avoid false/nuisance trips due to the torque
disturbances that can occur while moving the motor under load. The following timing
diagram depicts the Torque Limit adjustments, Home Torque Limit, and Home Torque
Threshold behavior during the Home to Torque sequence:
The Home to Torque sequence is similar to Home to Switch, with the exception that the
torque level is used instead of the home switch input. When this sequence is
performed, the axis moves in the specified Home Direction at the specified Home Speed
and Home Acceleration until a hard stop is detected, such as when motor torque has
exceeded the Home Torque Threshold for a period equal to Home Torque Time. At this
point, Home Position is calculated. The axis then decelerates to a stop at the specified
Home Deceleration. If Home Offset is non-zero and would not place the Home Position
of the axis further into the hard stop, the axis moves to the Home Position at the Home
Return Speed and Home Acceleration and Home Deceleration using a trapezoidal move
profile. Finally, the controller restores overridden drive attributes to their saved original
values. Axis behavior for this homing sequence is depicted in the following diagram:
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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. The
occurrence of the hard stop is detected when the commanded torque applied to the
motor reaches or exceeds the user specified torque level. Since the Home to Torque
sequence relies on the mechanical end of travel for operation, Uni-directional homing
will not be possible so only Forward Bi-directional and Reverse Bi-directional are
allowed. A delay filter is implemented in the drive to reduce any false/nuisance triggers
when there is a spike in the torque feedback upon enabling or jogging the motor under
load.
By including the encoder marker in the homing sequence this is the most precise
homing operation available for torque level based homing. When this sequence is
performed, the axis moves in the specified Home Direction at the specified Home Speed
and Home Acceleration until a hard stop is detected, such as when the Home Torque
Threshold is exceeded for a period equal to Home Torque Time. The axis then reverses
direction, first decelerating at the Home Deceleration rate, then moving away from the
hard stop using the Home Acceleration to reach the Home Return Speed, until the first
encoder marker is detected. Once the marker has been detected, the Home Position is
calculated. The axis then decelerates to a stop at the specified Home Deceleration and
the controller restores overridden drive attributes to their saved original values. If the
calculated Home Position is not beyond the hard stop, the axis moves to the Home
Position at the Home Return Speed and Home Acceleration and Home Deceleration
using a trapezoidal move profile. Axis behavior for this homing sequence is depicted in
the following diagram:
Passive Immediate Home This is the simplest passive homing sequence type. When this sequence is performed,
the controller immediately assigns the Home Position to the current axis actual
position. This homing sequence produces no axis motion.
Passive Home with Switch This passive homing sequence is useful when an encoder marker is not available or a
proximity switch is being used.
When this sequence is performed in the Passive Homing Mode, an external agent
moves the axis until the home switch is detected. The Home Position is assigned to the
axis position at the moment that the limit switch is detected. If Home Offset is
non-zero, then the Home Position will be offset from the point where the switch is
detected by this value.
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Homing Sequence Types Description
Passive Home with Marker This passive homing sequence is useful for single turn rotary and linear encoder
applications.
When this sequence is performed in the Passive Homing Mode, an external agent
moves the axis until the marker is detected. The home position is assigned to the axis
position at the precise position where the marker was detected. If Home Offset is
non-zero, then the Home Position will be offset from the point where the switch is
detected by this value.
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. If Home Offset is non-zero, then the Home Position will be offset from
the point where the switch is detected by this value.
Home Configuration Bits
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV DWORD 0x00 - - Bitmap
0 = Reserved
1 = Home Switch Normally Closed
2-31 = Reserved
The Home Configuration Bits attribute determines homing related behavior such
as the sense of the home switch contacts.
The Home Switch Normally Closed bit attribute determines the normal state of
the home limit switch used by the homing sequence. The normal state of the
switch is its state prior to being engaged by the axis during the homing sequence.
For example, if the Home Switch Normally Closed bit is set (true) then the
condition of the switch prior to homing is closed. When the switch is engaged by
the axis during the homing sequence, the switch is opened, which constitutes a
homing event.
Home Position
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV REAL 0 -maxp maxpos Position Units
os
If Travel Mode is Cyclic: 0 <= home pos < unwind
The Home Position is the desired absolute position for the axis after the specified
homing sequence has been completed. After an active homing sequence has
completed, the axis is left at the specified Home Position.
• If bidirectional homing, then the axis is left at the Home Position.
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• If unidirectional homing and TravelMode=Cyclic, then the axis is left at the
Home Position
Otherwise, the axis is not at the home position and the axis position is based on
the Home Position.
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.
Home Offset
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV REAL 0 -maxpos maxpos Position Units
When applied to an active or passive Homing Mode, using a non-immediate
Home Sequence, the Home Offset is the desired position offset of the axis Home
Position from the position at which the home event occurred. The Home Offset is
applied at the end of the specified homing sequence before the axis moves to the
Home Position. In most cases, Home Offset is set to zero.
After an active bidirectional homing sequence has completed, the axis is left at the
specified Home Position. If the Home Offset is non-zero, the axis will then be
offset from the marker or home switch event point by the Home Offset value. If
the Home Offset is zero, the axis will sit right on top of the marker or home switch
point.
This is not valid for immediate Home Sequence.
Home Speed
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV REAL 0 0 maxspd Position Units / Sec
PV Only
The Home Speed attribute controls the speed of the jog profile used in the first leg
of an active 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. Only valid for
position and velocity control.
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Home Return Speed
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set/SSV REAL 0 0 maxspd Position Units / Sec
PV Only
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. Only valid for
position and velocity control.
Home Acceleration
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Set/SSV REAL 0 0 maxacc Position Units / Sec2
PV Only
The Home Acceleration attribute controls the acceleration of the velocity profile
used in an active Home Sequence attribute.
Home Deceleration
Usage Access Data Default Min Max Semantics of Values
Type
Optional - E Set/ REAL 0 0 maxacc Position Units / Sec2
PV Only SSV
The Home Deceleration attribute controls the deceleration of the axis as it comes
to a stop in an active homing sequence as described in the Home Sequence
attribute.
Home Torque Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional - E Set/ REAL 0 0 100 Position Units / Sec2
PV Only SSV
The Home Deceleration attribute controls the deceleration of the axis as it comes
to a stop in an active homing sequence as described in the Home Sequence
attribute.
See also
Motion Control Configuration Attributes on page 433
Motion Control Status Attributes on page 459
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Motion Planner Configuration These are the motion planner attributes associated with a Motion Control Axis.
Attributes Output Cam Execution Targets
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Get/ DINT 0 0 8 # of Targets
GSV1 Represents the number of Output Cam
nodes attached to this axis.
1
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. This attribute can only be set as part of an
axis create service and dictates how many Output Cam Nodes are created and
associated to that axis. Each Output Cam Execution Target requires
approximately 5.4k bytes of data table memory to store persistent data. With four
Output Cam Execution Targets per axis, an additional 21.6k bytes of memory is
required for each axis.
The ability to configure the number of Output Cam Execution Targets for a
specific axis reduces the memory required per axis for users who do not need
Output Cam functionality, or only need 1 or 2 Output Cam Execution Targets
for a specific axis. Each axis can be configured differently.
Master Input Configuration Bits
Usage Access Data Default Min Max Semantics of Values
Type
Required - E PV Set/SSV DWORD 0x01 - - Bitmap
only 0:1 0 = Master Delay Comp
1:0 1 = Master Position Filter
2-31 = Reserved
This attribute controls the master axis input signal feeding the gearing and
camming functions of the motion planner, including the Master Position Filter
and Master Delay Compensation.
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Bit Name Description
0 Master Delay By default, both the Position Camming and Gearing functions, when applied to a
Compensation 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. When the master
axis is running at a fixed speed, this compensation technique insures that the slave
axis command position accurately tracks the actual position of the master axis; in
other words, Master Delay Compensation allows for zero tracking error when
gearing or camming to the actual position of a master axis.
This feature, while necessary in many applications, doesn't come without a price.
The Master Delay Compensation algorithm extrapolates the position of the master
axis at the predicted time when the command position will be applied to the
slave's servo loop. Since master axis position is measured in discrete feedback
counts and is inherently noisy, the extrapolation process amplifies that noise
according to the total position update delay. The total position update delay is
proportional to the Coarse Update Period of the motion group.
The Master Delay Compensation feature also includes an extrapolation filter to
filter the noise introduced by the extrapolation process. The time constant of the
filter is fixed at 4x the total position update delay (independent of the Master
Position Filter Bandwidth), which again is a function of the Coarse Update Period.
The Logix engine currently implements a 1st order extrapolation algorithm that
results in zero tracking error while the master axis is moving at constant velocity. If
the master axis accelerates or decelerates the tracking error is non-zero and
proportional to the acceleration or deceleration rate and also proportional to the
square of the total position update delay time. Clearly, from both a noise and
acceleration error perspective, minimizing the Coarse Update Period is vital.
In some applications there is no requirement for zero tracking error between the
master and the slave axis. In these cases, it may be beneficial to disable the Master
Delay Compensation feature to eliminate the disturbances the extrapolation
algorithm introduces to the slave axis. When the Master Delay Compensation
feature is disabled (bit cleared), the slave axis will appear to be more responsive to
movements of the master, and run generally smoother than when Master Delay
Compensation feature is enabled (bit set). However, when the master axis is
running at a constant velocity, the slave will lag the master by a tracking error that
is proportional to the speed of the master.
Note that Master Delay Compensation, even if explicitly enabled, is not applied in
cases where a slave axis is gearing or camming to the master axis' command
position. Since the Logix controller generates the command position directly, there
is no intrinsic master position delay to compensate for.
1 Master Position Filter The Master Position Filter bit controls the activity of an independent single-poll
low-pass filter that effectively filters the specified master axis position input to the
slave's gearing or position camming operation. When enabled (bit set), this filter
has the effect of smoothing out the actual position signal from the master axis, and
thus smoothing out the corresponding motion of the slave axis. The trade-off for
smoothness is an increase in lag time between the response of the slave axis to
changes in motion of the master. Note that the Master Position Filter also provides
filtering to the extrapolation noise introduced by the Master Delay Compensation
algorithm, if enabled.
When the Master Position Filter bit is set, the bandwidth of the Master Position
Filter is controlled by the Master Position Filter Bandwidth attribute, see below.
This can be done by setting the Master Position Filter bit and controlling the Master
Position Filter Bandwidth directly. Setting the Master Position Filter Bandwidth to
zero can be used to effectively disable the filter.
2-31 Reserved
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Master Position Filter Bandwidth
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set/ REAL 0 0 1000(1) Hertz
PV only SSV 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
(1)
for Master Position Filter Bandwidth attribute by clamping to limit rather than
generating a value out of range error. Only if the value is outside the fixed
Min/Max limits is an out of range error given. This was done to avoid
implementing complex range limit code based on the Coarse Update Period in the
Logix Designer application.
The Master Position Filter Bandwidth attribute controls the activity of the
single-poll low-pass filter that filters the specified master axis position input to the
slave's gearing or position camming operation. When enabled, this filter has the
effect of smoothing out the actual position signal from the master axis, and thus
smoothing out the corresponding motion of the slave axis. The trade-off for
smoothness is an increase in lag time between the response of the slave axis to
changes in motion of the master.
If the Master Position Filter is disabled, the Master Position Filter Bandwidth has
no effect.
Motion Exception Action
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set USINT 4 (D) - - Enumeration (D)
[32] 2 (E) 0 = Ignore
1 = Alarm
2 = Fault Status Only
3 = Stop Planner
4 = Disable
5 = Shutdown
Enumeration (E)
0 = Ignore
1 = Alarm
2 = Fault Status Only
3 = N/A
4 = N/A
5 = Shutdown
Array of enumerated exception actions assigned to the currently defined Motion
Exception conditions.
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This table defines the actions that may be taken by the controller in response to
the exception condition.
Motion Exception Action
Enumeration Name Description
0 Ignore Ignore instructs the controller to completely ignore the exception
condition. For some exceptions that are fundamental to the
operation of the planner, it may not be possible to Ignore the
condition.
1 Alarm Alarm action instructs the controller to set the associated bit in the
Motion Alarm Status word but to not otherwise impact axis
behavior. For some exceptions that are fundamental to the
operation of the planner, it may not be possible to select this action
or any other action that leaves axis operation unimpacted.
2 Fault Status Only Fault Status Only instructs the controller to set the associated bit in
the Motion Fault Status word but to not otherwise impact axis
behavior. It is up to the controller to programmatically bring the
axis to a stop in this condition. For some exceptions that are
fundamental to the operation of the planner, it may not be possible
to select this action or any other action that leaves axis operation
unimpacted.
3 Stop Planner Stop Planner instructs the controller to set the associated bit in the
Motion Fault Status word and instructs the Motion Planner to
perform a controlled stop of all planned motion at the configured
Max Decel rate. For some exceptions that are fundamental to the
operation of the planner, it may not be possible to select this action
or any other action that leaves the axis enabled.
4 Disable The Disable action results in the controller both setting the
associated bit in the Motion Fault Status word, abruptly stopping
the motion planner, and bringing the axis to a stop by disabling the
axis. The method used to decelerate the axis when there is a drive
associated with the axis is the best available stopping method for
the specific fault condition and is drive device dependent.
5 Shutdown Shutdown forces the axis into the Shutdown state, abruptly stops
the motion planner, disables any gearing or camming operation
that specifies this axis as a master axis, and immediately disables
the associated drive's power structure. If configured to do so by the
Shutdown Action attribute, the drive device may also open a
contactor to drop DC Bus power to the drive's power structure. An
explicit Shutdown Reset is required to restore the drive to an
operational state.
6-254 Reserved
255 Unsupported The Unsupported Exception Action is the value assigned to
Exceptions that are not supported in the implementation. Trying to
assign an Exception Action other than Unsupported to an exception
that is not supported results in an error.
Soft Travel Limit Checking
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/ SSV USINT 0 0 1 0 = No
1 = Yes
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This attribute determines if the system should check for software overtravel
condition based on current settings for Soft Travel Limit - Positive, and Soft
Travel Limit - Negative.
When the Soft Overtravel Checking is set to true the motion planner checks the
current Actual Position of the axis and issues an exception condition if the Soft
Travel Limits in either direction are exceeded while commanding motion in that
direction. The travel limits are determined by the configured values for the
Maximum Positive Travel and Maximum Negative Travel attributes. Soft Travel
Limit checking is not a substitute, but rather a supplement, for hardware
overtravel fault protection that uses hardware limit switches to directly stop axis
motion at the drive and deactivate power to the system.
If the Soft Travel Limit Checking value is set to false (default), then no software
travel limit checking is done by the planner. For CIP Drive axis data types, Soft
Travel Limit Checking has no affect if the Travel Mode is configured for Cyclic
(Rotary) operation.
Soft Travel Limit Checking has no impact until the Axis Homed Status bit is set
in the Motion Status Bits attribute; there is no point in checking absolute position
of the axis if an absolute position reference frame has not been established for the
machine.
Soft Travel Limit, Positive and Negative
Usage Access Attribute Name Data Default Min Max Semantics of
Type Values
Required - E Set/ SSV Soft Travel Limit - REAL 0 -maxpos maxpos Position Units
Positive
Required - E Set/ SSV Soft Travel Limit - REAL 0 -maxpos maxpos Position Units
Negative
The Soft Travel Limit - Positive attribute sets the maximum positive travel limit
for actual position when Soft Travel Limit Checking is enabled. If this value is
exceeded while commanding motion in the positive direction, a Soft Travel Limit
- Positive exception is generated.
The Soft Travel Limit - Negative attribute sets the maximum negative travel limit
for actual position when Soft Travel Limit Checking is enabled. If this value is
exceeded while commanding motion in the negative direction, a Soft Travel Limit
- Negative exception is generated.
This attribute provides configurable software travel limits through the Soft Travel
Limit - Positive and Soft Travel Limit - Negative attributes. If the axis is
configured for Soft Travel Limit Checking, and the axis passes outside these travel
limits, a Software Travel Limit exception condition occurs. In the case of a
controlled axis, when the axis is outside the travel limits and no motion is being
commanded or motion is being commanded to bring the axis back within the soft
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travel range, the Soft Travel Limit exception is NOT generated. This facilitates
recovery from an existing Soft Travel Limit condition. In this case, a Fault Reset
can be executed to clear the fault, allowing the axis to be enabled, and then simply
commanded back inside the travel limits. For an uncontrolled axis, such as
Feedback Only axis, a Soft Travel Limit exception is always generated when the
axis is outside the travel limits. In this case the axis must be moved back inside the
Travel Limits by some other means. Any attempt to clear the Travel Limit fault in
the uncontrolled axis case while outside the travel limits results in an immediate
re-issue of the Soft Travel Limit exception.
When Soft Travel Limit Checking is enabled, appropriate values for the maximum
travel in both the Soft Travel Limit Positive and Soft Travel Limit Negative
attributes need to be established with Soft Travel Limit - Positive value always
greater than Soft Travel Limit - Negative value. Both of these values are specified
in the configured Position Units of the axis.
Command Update Delay Offset
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/ SSV DINT 0 -1 * MUP 2 * MUP µseconds
PV only MUP = Multiplex Update Period
Use the Command Update Delay Offset attribute to introduce a time offset to the
command as part of the Master Delay Compensation feature of the control system
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.
See also
Motion Control Status Attributes on page 459
Absolute Position Recovery on page 49
Motion Planner Output These are the motion planner output attributes associated with a Motion Control
Axis.
Attributes
Planner Command Position - Integer
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV Get/ DINT - - - Planner Counts
GSV
This attribute value is the integer component of Motion Planner generated
command position in planner counts. The command position data type is
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represented internally as a 64-bit floating point value that Motion Task restricts to
a signed 32-bit integer range. The resulting range restricted Double Floating point
value can therefore be expressed as two 32-bit attributes to preserve precision. This
is accomplished by representing the command position (compos) as x + y, where x
is the signed integer component (this attribute) and y is the signed floating point
fractional component. x and y are defined using the following equations:
x = (int)compos
y = (float)(compos – x)
Planner Command Position - Fractional
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV Get/ REAL - - - Planner Counts
GSV
This attribute value is the fractional component of Motion Planner generated
command position in planner counts. Representing the command position
(compos) x + y, where x is the signed integer component and y is the signed
floating point fractional component (this attribute). x and y are defined using the
following equations:
x = (int)compos
y = (float)(compos – x).
Planner Actual Position
Usage Access Data Type Default Min Max Semantics of Values
Required - ED Get/ DINT - - - Planner Counts
GSV
This attribute value is the Motion Planner generated actual position in planner
counts. The internal 64-bit signed integer representation of actual position is
range limited by Motion Task to a signed 32-bit integer.
See also
Motion Planner Configuration Attributes on page 490
Interpret the Attribute Tables on page 93
Motion Scaling Attributes These are the basic motion scaling configuration attributes associated with a
Motion Control Axis. These attributes are involved in conversion between
position, speed, and acceleration expressed in Motion Counts and Motion Units,
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and the user-defined Position Unit of the axis. The motion scaling function is also
involved in conversion of Motion Counts to/from Feedback Counts, and Motion
Units to/from Feedback Units.
Motion Scaling Configuration
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/GSV USINT 0 - - Enumeration
0 = Control Scaling (R)
1 = Drive Scaling (O)
2-255 = Reserved
The Motion Scaling Configuration attribute determines whether the scaling
function is performed by the controller or the drive. The Control Scaling selection
configures the control system to perform the scaling calculations in the controller.
In this mode, the controller interacts with the drive in terms of Feedback Counts
or Motor Units, hence no scaling operations are required by the drive. Also, in
Control Scaling mode the controller is responsible for Position Unwind (Cyclic
Unwind for device axis objects) operations associated with Cyclic Travel Mode
(Cyclic Unwind Control for device axis objects).
The Drive Scaling selection configures the control system to perform the scaling
calculations in the drive device. In this mode, the controller interacts with the
drive in terms of Motion Counts or Motion Units and the drive is responsible for
conversion to equivalent Feedback Counts and Motor Units. Also, in Drive
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 Min Max Semantics of Values
Required - All Set/ SSV# USINT 0 - - Enumeration:
0 = From Calculator
1 = Direct Scaling Factor Entry
2-255 = reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
Enumerated attribute used to determine whether the scaling factors are going to
be entered directly from the user or calculated based on Position Scaling, Position
Unwind, and Travel Range values. When entered directly, the scaling factors, for
example, Conversion Constant, Position Unwind, and Motion Resolution are
expressed in units of "counts". When using the scaling calculator, the scaling
factors are calculated based on values entered by the user in the preferred units of
the application without requiring any knowledge of "counts".
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Important: Configuration of Scaling page parameters is required for any attributes expressed in position,
velocity, or acceleration units to return meaningful values.
Scaling Calculations are performed by Logix Designer application whenever the
Scaling attribute values change. Scaling attributes are defined as Position Scaling
Numerator, Position Scaling Denominator, Position Unwind Numerator,
Position Unwind Denominator, Travel Mode, and Travel Range. The purpose of
the Scaling Calculation is to generate the key Scaling Factors used to convert
between the user defined Position Units and the quantized Motion Count units
used by the control system. The set of Scaling Factor attributes consist of Motion
Resolution, Conversion Constant, and Position Unwind.
The specific Scaling Calculations performed by the Logix Designer application
depend on the Travel Mode setting as follows:
Cyclical Travel:
• Max Resolution = Int((2^31-1) * (Pos Scaling Num/Pos Scaling Denom) /
(Unwind Num/Unwind Denom))
• Base Resolution = Minimum (Default Motion Resolution, Max
Resolution)
• Motion Resolution = (Pos Scaling Num*Unwind Denom) * (10^(Int
(Log10(Base Resolution/(Pos Scaling Num*Unwind Denom)))))
• Conversion Constant = Motion Resolution * (Pos Scaling Denom/Pos
Scaling Num)
• 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)
• Motion Resolution = Pos Scaling Num * (10^(Int (Log10(Base
Resolution/Pos Scaling Num))))
• Conversion Constant = Motion Resolution * (Pos Scaling Denom/Pos
Scaling Num)
Unlimited Travel:
• Base Resolution = Default Motion Resolution
• Motion Resolution = Pos Scaling Num * (10^(Int (Log10(Base
Resolution/Pos Scaling Num))))
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• Conversion Constant = Motion Resolution * (Pos Scaling Denom/Pos
Scaling Num)
When Scaling Calculations are performed, Logix Designer application sets the
Scaling Source to "from calculator". If any of the Scaling Factor attributes is
changed directly by the user either through Logix Designer or through
programmatic access, Scaling Source is set to "direct entry". The "direct entry"
setting indicates that the Scaling Factors are no longer consistent with the current
Scaling attribute values.
Travel Mode
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ SSV# USINT 0 - - Enumeration:
0 = Unlimited
1 = Limited (E)
2 = Cyclic (E)
3-255 = reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
Enumerated attribute used to determine the travel constraints of the axis.
Unlimited travel is for axes that run continuously without limit but are not cyclic.
Limited travel is for axes that have imposed limits to their travel, usually due to
mechanical limitations. Cyclic travel is for axes whose position repeats as part of a
product cycle. While the axis may run continuously, the position value is bound
between 0 and the Position Unwind value. If the Feedback Configuration = No
Feedback, such as with Sensorless/Encoderless operation, then the only valid
Travel Mode setting is "Unlimited".
Position Scaling Numerator
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ GSV REAL 1 0+ 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).
Position Scaling Denominator
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ GSV REAL 1 0+ Motion Unit
A floating point value used by the scaling calculator to determine the number of
Motion Units per Position Scaling Numerator units (Position Units).
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Position Unwind Numerator
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/ GSV REAL 1 0+ Position Units
A floating point value used by the scaling calculator to determine the number of
Position Units per Position Unwind Denominator units (Unwind Cycles). This
value is only used by the calculator if cyclic Travel Mode is selected.
Position Unwind Denominator
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/ GSV REAL 1 0+ Unwind Cycles
A floating point value used by the scaling calculator to determine the number of
Unwind Cycles per Position Unwind Numerator units (Position Units). This
value is only used by the calculator if cyclic Travel Mode is selected.
Travel Range
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/ GSV REAL 1 0+ Position Units
A floating point value used by the scaling calculator to determine the maximum
travel range in Position Units for a limited Travel Mode position scaling
calculation.
Motion Unit
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ GSV USINT 0 - - 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
8 = Feedback inch
9 = Motor Rev/s
10 = Load Rev/s
11 = Motor m/s
12 = Load m/s
13 = Motor inch/s
14 = Load inch/s
15-255 = Reserved
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The Motion Unit attribute determines the unit of measure used to express the
Motion Resolution used by motion planner functions. A Motion Unit is the
standard engineering unit of measure for motion displacement. Motion Units may
be configured as Revs, Inches, or Millimeters depending on the specific
application.
Motion Resolution
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/ SSV# DINT Default Motion 1 2 -1
31
Motion Counts / Motion Unit
Resolution
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Motion Resolution attribute is an integer value that determines the number
of Motion Counts per Motion Unit used by the scaling function to convert
between Motion Counts and Feedback Counts. This attribute determines how
many Motion Counts there are in a Motion Unit. A Motion Count is the
fundamental unit of displacement used by the Motion Planner and a Motion Unit
is the standard engineering unit of measure for motion displacement. Motion
Units may be configured as Revs, Inches, or Millimeters depending on the specific
application.
All command position, velocity, and acceleration data is scaled from the user's
preferred Position Units to Motion Units for the Motion Planner based on the
Motion Resolution and Conversion Constant. The ratio of the Conversion
Constant to Motion Resolution determines the number of Position Units in a
Motion Unit as described using the following formula.
• 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. The ratio of Motion
Resolution and the Conversion Constant determines the number of Position
Units in a Motion Unit as described using the following formula:
• Motion Resolution / Conversion Constant = Position Units / Motion
Unit (rev, inch, or millimeter)
In general, the Motion Resolution value may be may be configured in Motion
Counts per Motion Unit independent of the resolution of the feedback device(s)
used. The drive's scaling function takes care of scaling between Feedback Counts
and Motion Counts. Providing a configurable Motion Resolution value is
particularly useful for addressing Fractional Unwind applications where it is
necessary to have an integer number of Motion Counts per Unwind Cycle.
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Valid Motion Unit attribute selections are determined by the Feedback
Configuration, Load Type, and Linear Actuator Unit (Lead Unit or Diameter
Unit) values according to the following table:
Feedback Configuration Load Type Linear Actuator Unit Motion Unit
No Feedback Direct Rotary - Motor Rev/s
No Feedback Rotary Transmission - Load Rev/s
No Feedback Linear Actuator mm/rev | mm Load m/s
No Feedback Linear Actuator inch/rev| inch Load inch/s
Master Feedback Direct Rotary - Feedback Rev
Master Feedback Direct Linear - Feedback mm
Master Feedback Rotary Transmission - Load Rev
Master Feedback Linear Actuator mm/rev | mm Load mm
Master Feedback Linear Actuator inch/rev| inch Load inch
Motor Feedback Direct Rotary - Motor Rev
Motor Feedback Direct Linear - Motor mm
Motor Feedback Rotary Transmission - Load Rev
Motor Feedback Linear Actuator mm/rev |mm Load mm
Motor Feedback Linear Actuator inch/rev | inch Load inch
Load | Dual Feedback Direct Rotary - Load Rev
Load | Dual Feedback Direct Linear - Load mm
Load | Dual Feedback Rotary Transmission - Load Rev
Load | Dual Feedback Linear Actuator mm/rev | mm Load mm
Load | Dual Feedback Linear Actuator inch/rev | inch Load inch
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 200,000
Motor|Load|Feedback Rev/s 1,000,000
Motor|Load|Feedback m/s 10,000,000
Motor|Load|Feedback Inch/s 200,000
Travel Range Limit
Because the position parameters are sometimes internally limited to signed 32-bit
representation, the Motion Resolution parameter impacts the travel range. In such
a case, the equation for determining the maximum travel range based on Motion
Resolution is as follows:
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• Travel Range Limit (in Motion Units) = +/- 2,147,483,647 / Motion
Resolution
Based on a default value of 1,000,000 Motion Counts per Motion Unit, the range
limit is 2,147 Motion Units. When the axis position exceeds this value, the
position accumulators roll-over, essentially flipping the sign of the axis position
value. Motion continuous smoothly through the roll-over but the position values
are obviously not contiguous. This is nominal operation in Unlimited Travel
Mode. While it is relatively rare for this travel range limitation to present a
problem, say in point-to-point positioning applications, it is a simple matter to
lower the Motion Resolution to increase the travel range. The downside of doing
so is that the position data is then passed with lower resolution that could impact
the smoothness of motion. Selecting Limit Travel Mode sets the Motion
Resolution value close to the maximum value that complies with the specified
Travel Range of the application.
Fractional Unwind
In some cases, however, you may also want to specifically configure Motion
Resolution value to handle fractional unwind applications or multi-turn absolute
applications requiring cyclic compensation. In these cases where the Position
Unwind value for a rotary application does not work out to be an integer number
of Motion Counts, the Motion Resolution attribute may be modified to a value
that is integer divisible by the Position Unwind value. This is done automatically
when selecting the Cyclic Travel Mode.
Motion Polarity
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/ SSV# USINT 0 0 1 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. A Normal
setting leaves the sign of the motion control command and actual signal values
unchanged from their values in the drive control structure. An Inverted setting
flips the sign of the command signal values to the drive control structure and flips
the sign of the actual signal values coming from the drive control structure.
Motion Polarity can therefore be used to adjust the sense of positive direction of
the motion control system to agree with the positive direction on the machine.
When the Motion Scaling Configuration is set to Drive Scaling, the Motion
Polarity inversion is performed between the CIP Motion Connection interface
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and the drive control structure. When the Motion Scaling Configuration is set to
Controller Scaling, the Motion Polarity inversion is performed exclusively by the
controller.
To maintain directional consistency, the signs of all Signal Attribute values read
from the drive control structure or being written to the drive control structure are
determined by Motion Polarity. A comprehensive list of these Signal Attributes
and their access rules is defined in the following table:
ID Access Rule Signal Attribute Name
1402+o Get Feedback n Position
1403+o Get Feedback n Velocity
1404+o Get Feedback n Acceleration
62 Get Registration 1 Positive Edge Position
63 Get Registration 1 Negative Edge Position
64 Get Registration 2 Positive Edge Position
65 Get Registration 2 Negative Edge Position
70 Get Home Event Position
360 Set* Controller Position Command - Integer
365 Get Fine Command Position
366 Get Fine Command Velocity
367 Get Fine Command Acceleration
370 Set Skip Speed 1
371 Set Skip Speed 2
372 Set Skip Speed 3
430 Get Position Command
431 Set* Position Trim
432 Get Position Reference
433 Get Velocity Feedforward Command
436 Get Position Error
437 Get Position Integrator Output
438 Get Position Loop Output
450 Get Velocity Command
451 Set* Velocity Trim
452 Get Acceleration Feedforward Command
453 Get Velocity Reference
454 Get Velocity Feedback
455 Get Velocity Error
456 Get Velocity Integrator Output
457 Get Velocity Loop Output
480 Get Acceleration Command
481 Set* Acceleration Trim
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ID Access Rule Signal Attribute Name
482 Get Acceleration Reference
483 Get Acceleration Feedback
801 Get Load Observer Acceleration Estimate
802 Get Load Observer Torque Estimate
490 Get Torque Command
491 Set* Torque Trim
492 Get Torque Reference
493 Get Torque Reference - Filtered
494 Get Torque Reference - Limited
821 Get Total Inertia Estimate
520 Get Iq Current Command
521 Get Operative Current Limit
523 Get Motor Electrical Angle
524 Get Id Current Reference
525 Get Id Current Reference
840 Set Current Disturbance
527 Get Iq Current Error
528 Get Id Current Error
529 Get Iq Current Feedback
530 Get Id Current Feedback
565 Get Slip Compensation
600 Get Output Frequency
601 Get Output Current
602 Get Output Voltage
603 Get 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.
When the Motion Scaling Configuration is set to Controller Scaling, inverting
Motion Polarity requires that positive and negative position, velocity, acceleration,
and torque limit attribute values in Motion Control Axis Object be inverted and
swapped with the corresponding attributes in the Motion Device Axis Object. For
example entering a "Velocity Limit – Positive" value in the controller of 100
revs/sec would result in a "Velocity Limit – Negative" value of -100 revs/sec in the
drive device.
A comprehensive list of these Directional Limit Attributes and their access rules is
defined in the following table:
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ID Access Rule Attribute Name
374 Set Ramp Velocity - Positive
375 Set Ramp Velocity - Negative
376 Set Ramp Acceleration
377 Set Ramp Deceleration
448 Set Position Limit - Positive
449 Set Position Limit - Negative
473 Set Velocity Limit - Positive
474 Set Velocity Limit - Negative
485 Set Acceleration Limit*
486 Set Deceleration Limit*
504 Set Torque Limit - Positive
505 Set Torque Limit - Negative
* Acceleration and Deceleration Limits are unsigned positive values and, therefore, do not need to be sign inverted.
Position Units
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set STRING "Position - - "Revs"
Units"
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" while
rotary axes might use Position Units of "Revs" or "Degrees".
The Position Units attribute can support an ASCII text string of up to 32
characters. This string is used by Logix Designer application in the axis
configuration dialogs to request values for motion-related parameters in the
specified Position Units. In this case, the software limits the maximum string
length to 15 characters.
Average Velocity Timebase
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/ SSV# REAL 0.25 0.001 32 (1000 Sec
(1 coarse coarse
update update
period) period)
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This attribute determines the period of time over which the system computes
Average Velocity for this axis instance.
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Range limits based on coarse update period and history array size are ultimately
enforced for Average Velocity Timebase attribute by clamping to limit rather than
generating a value out of range error. Only if the value is outside the fixed
Min/Max limits is an out of range error given.
Conversion Constant
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/ REAL Default Motion 10-12 1012 Counts/Position Unit
SSV# Resolution
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This attribute is used as a scaling factor allowing axis position, velocity, and
acceleration attributes to be displayed or configured in the user's preferred units
specified by the Position Unit string attribute. Specifically, the Conversion
Constant, is used by the motion system to scale the axis position units into motion
planner counts and vice versa. The Conversion Constant represents the number of
counts of the motion planner per Position Unit.
Position Unwind
Usage Access Data Default Min Max Semantics of Values
Type
Required - E Set/ DINT Default Motion 1 109 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. This is the value used to perform electronic unwind of the
cyclic axis' position. Electronic unwind operation provides infinite position range
for cyclic axes by subtracting the position unwind value from both the actual and
command position every time the axis completes a machine cycle. To avoid
accumulated error due to round-off with irrational conversion constants, the
unwind value is expressed as an integer number of feedback counts per cycle.
See also
Motion Resolution Value Examples on page 508
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Motion Resolution Value Examples Motion Resolution is one of the Motion Scaling attributes. These examples
demonstrate how the Motion Resolution value may be used together with the
Conversion Constant to handle various machine applications.
Direct-Drive Rotary Shear Application
In this mechanical configuration a rotary motor is directly driving a rotary shear
drum equipped with three knives to cut a product to specified length, thus
producing three products per revolution of the output shaft. Because the default
Motion Resolution value is 1,000,000 Motion Counts/Motor Rev and the user's
Position Unit is, say, Products, the Conversion Constant would be 1,000,000/3
Motion Counts/Product. This is particularly problematic when configured to
perform an Unwind operation every product cut cycle where a 1/3 count error
would accumulate with every cycle. But, because Motion Resolution is
configurable, you can simply set the Motion Resolution to 300,000 Motion
Counts/Motor Rev and the Conversion Constant could then be set to 100,000
Motion Counts/Motor Rev, and a Rotary Unwind value of 100,000 Motion
Counts/Cycle.
Because the Conversion Constant is now a clean rational number, this system
scales without any loss of mechanical precision, for example, a move of three
Products would move the output shaft exactly one revolution. By setting the
Travel Mode to Cyclic, entering Position Scaling of three Products per Motor
Rev, and a Position Unwind value of one Product per Cycle, appropriate values for
scaling factors, Motion Resolution, Conversion Constant, and Rotary Unwind are
automatically calculated.
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. Assuming that the motor feedback device is a typical optical
encoder with 4000 Feedback Counts/rev, a displacement of 300,000 Motion
Counts would be scaled by the control system to be 4000 Feedback Counts.
Rotary Shear Application with Gearbox
Instead of the motor directly driving the rotary shear drum, in this application
example the motor is driving the shearing drum through a 3:1 gearbox. Since the
Motion Unit is tied to the load, for example, Load Rev, the Motion Resolution,
Conversion Constant, and Rotary Unwind determined in the example above
apply equally well to this application.
The scaling of Motion Counts to Motor Feedback Counts, however, is not the
same due to the presence of the gearbox. In this case, one revolution of the
shearing mechanism translates to three revolutions of the motor. Nevertheless, the
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control system has a count scaling feature that performs this scaling automatically.
This is done by selecting a Rotary Transmission as the Load Type, and setting the
Transmission Ratio Output to 1, and the Transmission Ratio Input to 3. In this
way, 300,000 Motion Counts per Load Rev is scaled exactly to 12,000 Motor
Feedback Counts, or three Motor Revs.
Rotary Motor with Gearbox/Ball-Screw Application
Because this is a linear application, Motion Resolution would be expressed as
Motion Counts per Load millimeter m or Load inch, in this case, say millimeter.
The motor feedback would, however, be rotary and resolution expressed in Motor
Feedback Counts per Motor Rev, in our case 4000 Feedback Counts per Motor
Rev. The default Motion Resolution is 1,000,000 Motion Counts per millimeter
and if the Position Unit is, say, centimeters, the Conversion Constant would be
10,000,000 Motion Counts per centimeter. This would be automatically
calculated by entering a Position Scaling of 1 centimeter per 10 millimeters.
Given that our application uses a 4:1 gearbox and a 5 mm pitch ball-screw, 5 mm
of ball-screw travel translates to 4 revolutions of the motor, or 16,000 Feedback
Counts. Again, the control system's count-scaling feature performs this scaling
automatically. This is done by selecting Linear Actuator as the Load Type, setting
the Transmission Ratio Output to 1, and the Transmission Ratio Input to 4,
setting the Actuator Type to be "Screw", and the Lead to 5 mm/rev. In this way,
5,000,000 Motion Counts, or 5 mm worth of screw displacement, is scaled exactly
to 16,000 Motor Feedback Counts, or exactly 4 Motor Revs.
See also
Motion Scaling Attributes on page 496
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.
General Linear Motor Attributes These are the motor configuration attributes that apply specifically to linear
motor types.
Linear Motor Pole Pitch
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/GSV REAL 50 0 mm
DB
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The Linear Motor Pole Pitch attribute is a floating point value that specifies the
pole pitch of a linear motor in units of meters, and is equivalent to the electrical
cycle length.
Linear Motor Rated Speed
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/GSV REAL 0 0 m/s
DB
The Linear Motor Rated Speed attribute is a floating point value that specifies the
nameplate rated speed of a linear motor. For PM motors, this is generally specified
at rated voltage based on either rated current, rated force, or rated power. For
induction motors this value is the speed of the motor driven at rated frequency
under rated force load. This value is synonymous with the term base speed.
Linear Motor Mass
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/SSV# REAL 0 0 Mass Unit
DB
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Linear Motor Mass attribute is a floating point value that specifies the
unloaded moving mass of a linear motor.
Linear Motor Max Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 m/s
DB
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. Specifically,
this value can represent the maximum safe operating speed, maximum continuous
no-load speed, maximum continuous encoder speed, or maximum continuous
bearing speed of the motor. This value can be used by the drive to determine the
Linear Motor Overspeed Factory Limit.
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Linear Motor Damping Coefficient
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 N/(m/s)
DB
The Linear Motor Damping Coefficient attribute is a floating point value that
specifies the damping, or viscous friction, associated with a linear motor.
Linear Motor Integral Limit Switch
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV USINT 0 0 1 0 = No
DB 1 = Yes
The Linear Motor Integral Limit Switch attribute specifies if the motor has
integral limit switches.
See also
General Motor Attributes on page 511
General Permanent Magnet Motor Attributes on page 519
Induction Motor Attributes on page 524
Linear PM Motor Attributes on page 526
General Motor Attributes These are the general motor attributes that apply to all motor technologies.
Motor Catalog Number
Usage Access Data Type Default Min Max Semantics of Values
Required Set 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. In the drive Motor Catalog Number is a gettable
attribute and can be used to identify a specific motor when Motor Data Source is
not from the Motion Database. In this case, if the Motor Catalog Number is not
available to the drive, the drive sets this attribute to a Null string.
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Motor Serial Number
Usage Access Data Type Default Min Max Semantics of Values
Optional Get SHORT - - - For example, 0012003400560078
STRING
The Motor Serial Number attribute is a 16-character string that specifies the serial
number of the motor. If the Motor Catalog Number is not available, the drive sets
this attribute to a Null string.
Motor Data Source
Usage Access Data Type Default Min Max Semantics of Values
Required Set/GSV USINT 0 - - Bits 0-3: Enum
0 = Datasheet (R)
1 = Database (O)
2 = Drive NV (O)
3 = Motor NV (O)
4-127 = Reserved
128-255 = Vendor specific
The Motor Data Source attribute specifies the source of motor data for the drive.
• Datasheet implies that the motor configuration attributes are entered by
the user from a motor datasheet or from motor nameplate data.
• Database means that configuration software pulls the motor data from a
motor database based on catalog number during the drive configuration
process.
• Drive NV implies that the motor attributes are derived directly from the
drive's nonvolatile memory. In this mode, only a minimal set of motor and
motor feedback (Feedback 1) are required to configure the drive.
• 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.
In both Drive NV and Motor NV cases, the specific motor and motor feedback
attributes that are sent or not sent to the drive during configuration are identified
in the CIP Drive Set Attr Update Bits attribute table.
Motor and motor feedback attributes sent to the drive device in Drive NV or
Motor NV are merely to confirm that the controller and the drive have the
agreement on the values of attributes critical to scaling operation. If the NV
attribute values in the drive differ from the values set by the controller, the drive
will reject the values with General Status indicating an Invalid Attribute Value.
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The current list of motor and motor feedback attributes sent to the drive in the
NV modes are as follows:
1. Motor Unit
2. Feedback 1 Unit
3. Feedback 1 Type
4. Feedback 1 Startup Method
5. Feedback 1 Cycle Resolution
6. Feedback 1 Cycle Interpolation
7. Feedback 1 Turns
8. Feedback 1 Length
Motor Device Code
Usage Access Data Type Default Min Max Semantics of Values
Required Set/GSV UDINT 0 0 2 -1
32
DB
The Motor Device Code attribute is a unique number assigned to a motor catalog
number. This value is used to insure that the motor and integral motor mounted
feedback device configuration data delivered from the controller matches the
actual motor and feedback data connected to the drive.
This comparison is only valid in the case where the Motor Data Source is
Datasheet or Database driven and the motor is equipped with a smart feedback
device. If the codes do not match, a negative acknowledge is given by the drive.
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.
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Motor Type
Usage Access Data Type Default Min Max Semantics of Values
Required Set/GSV USINT 0 - - Enumeration
DB 0 = Not Specified (R)
1 = Rotary Permanent Magnet
(O)
2 = Rotary Induction (O)
3 = Linear Permanent magnet
(O)
4 = Linear Induction (O)
5 = Rotary Interior Permanent
Magnet (O)
6-127 = Reserved
128-255 = Vendor Specific
The Motor Type attribute is an enumeration that specifies the motor technology.
When Motor Type is set to Not Specified, all motor configuration attribute values
associated with the motor are considered Not Applicable and will not be set by
configuration software nor will they be sent to the drive.
If Motor Data Source is Motor NV or Drive NV, the Motor 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 Motor Type. In this case, the Motor Type is not sent
to the drive.
If Motor Data Source is Datasheet or Database, an unspecified Motor Type, when
received by the drive device during configuration, indicates that the motor
configuration has not been defined and therefore results in a Configuration Fault
indicating an Invalid Attribute Value.
Motor Unit
Usage Access Data Type Default Min Max Semantics of Values
Required Set/GSV USINT 0 - - Enumeration
0 = Rev (R for Rotary motor
types)
1 = Meter (R for Linear motor
types)
2-127 = Reserved
128-255 = Vendor Specific
The Motor Unit attribute is a unit of measure for motor displacement. This
attribute is also used for sensorless operation since the Feedback Unit in that case
is not known. Motor Unit selection is based on Motor Type.
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Motor Polarity
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/SSV* USINT 0 - - Enumeration
DB 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).
The Motor Polarity attribute is an enumerated value used to establish the
direction of motor motion when the windings are phased according to factory
specification. Normal polarity is defined as the direction of motor travel when the
ABC motor winding leads are hooked up according to the drives published
specifications. Inverted polarity effectively switches the ABC phasing to ACB so
that the motor moves in the opposite direction in response to a positive drive
output.
You can use the Motor Polarity attribute to make the direction of travel agree with
the user's definition of positive travel. It can be used in conjunction with the
Feedback Polarity bit to provide negative feedback, when closed loop control is
required. When commutating a PM motor, it is imperative that the commutation
phase sequencing match the motor phase sequencing to properly control the
motor.
Motor Rated Voltage
Usage Access Data Type Default Min Max Semantics of Values
Required Set/GSV REAL 0 0 Volts (RMS)
DB
The Motor Rated Voltage attribute is a floating point value that specifies the
nameplate AC voltage rating of the motor. This represents the phase-to-phase
voltage applied to the motor to reach rated speed at full load.
Motor Rated Continuous Current
Usage Access Data Type Default Min Max Semantics of Values
Required Set/GSV REAL 0 0 Amps (RMS)
DB
The Motor Rated Continuous Current attribute is a floating point value that
specifies the nameplate AC continuous current rating of the motor. This
represents the current applied to the motor under full load conditions at rated
speed and voltage. Any positive number. This is a database number and should not
be changed.
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Motor Rated Peak Current
Usage Access Data Type Default Min Max Semantics of Values
Required - PM Set/GSV REAL 0 0 Amps (RMS)
Optional - IM DB
The Motor Rated Peak Current attribute is a floating point value that specifies the
peak or intermittent current rating of the motor. The peak current rating of the
motor is often determined by either the thermal constraints of the stator winding
or the saturation limits of PM motor magnetic material.
Motor Rated Output Power
Usage Access Data Type Default Min Max Semantics of Values
Required - IM Set/GSV REAL 0 0 Power Units
Optional - PM DB
The Motor Rated Output Power attribute is a floating point value that specifies
the nameplate rated output power rating of the motor. This represents the power
output of motor under full load conditions at rated current, speed and voltage.
Motor Overload Limit
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/GSV REAL 100 0 200 % Motor Rated
DB DB
The Motor Overload Limit attribute is a floating point value that specifies the
maximum thermal overload limit for the motor. This value is typically 100%,
corresponding to the power dissipated when operating at the continuous current
rating of the motor, but can be significantly higher if, for example, cooling options
are applied. How the Motor Overload Limit is applied by the drive depends on the
overload protection method employed.
For induction motors, this attribute is often related to the Service Factor of the
motor. The Service Factor is defined in the industry as a multiplier which, when
applied to the rated power or current of the motor, indicates the maximum power
or current the motor can carry without entering an overload condition.
Regardless of the Motor Type, if the drive applies an I2T motor overload
protection method, then exceeding the specified Motor Overload Limit results in
an overload condition and activates I2T overload protection. While the motor is
overloaded, the Motor Capacity attribute value increases to indicate how much of
the motor's available I2T overload capacity has been utilized. When Motor
Capacity reaches 100% of its rated capacity, the drive can optionally trigger a
Motor Overload Action.
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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.
The Motor Overload Limit can also used by the drive to determine the absolute
thermal capacity limit of the motor, for example, the Motor Thermal Overload
Factory Limit, that if exceeded, generates a Motor Thermal Overload FL
exception.
Motor Integral Thermal Switch
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/GSV USINT 0 0 1 0 = No
DB 1 = Yes
The Motor Integral Thermal Switch attribute specifies if the motor has an integral
thermal switch to detect a Motor Overtemperature condition. Connection to the
motor thermal switch can be through the motor feedback interface, associated
with Axis I/O Status bit, Feedback 1 Thermostat, or through a discrete digital
input to the drive, associated with Axis I/O Status bit, Motor Thermostat. The
method of interface to the thermal switch is left to the drive vendor's discretion.
Motor Max Winding Temperature
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/GSV REAL 0 0 °C
DB
The Motor Max Winding Temperature attribute is a floating point value that
specifies the maximum winding temperature of the motor.
Motor Winding to Ambient Capacitance
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/GSV REAL 0 0 Joules/°C
DB
The Motor Winding to Ambient Thermal Capacitance attribute is a floating
point value that specifies the winding-to-ambient thermal capacitance.
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Motor Winding to Ambient Resistance
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/GSV REAL 0 0 °C/Watt
DB
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 on page 64
Induction Motor Attributes on page 524
Linear PM Motor Attributes on page 526
Load Transmission and Actuator Attributes on page 532
Rotary PM Motor Attributes on page 534
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General Permanent Magnet These are the motor configuration attributes that apply to Permanent Magnet
motor types in general.
Motor Attributes
PM Motor Resistance
Usage Access Data Type Default Min Max Semantics of Values
Required Set/SSV* REAL 0 0 Ohms
DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The PM Motor Resistance attribute is a floating point value that specifies the
phase-to-phase, resistance of a permanent magnet motor.
PM Motor Inductance
Usage Access Data Type Default Min Max Semantics of Values
Required Set/SSV* REAL 0 0 Henries
(SPM Only) DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The PM Motor Inductance attribute is a floating point value that specifies the
phase-to-phase, inductance of a permanent magnet motor.
PM Motor Flux Saturation
Usage Access Data Type Default Min Max Semantics of Values
Optional Set REAL [8] [100, 100, 0 100 % Nominal Inductance
(SPM Only) 100, 100,
100, 100,
100, 100]
DB
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. The
units for the nominal inductance values are percent, such that a value of 100%
means no saturation, and 90% means the inductance is 90% of its value at zero
current.
The first array entry specifies the flux saturation value at 12.5% of the Peak
Current Rating; the second entry specifies the value at 25%, and so on up to the
last entry, which specifies the value at 100% of the Peak Current Rating. (At zero
current, the motor is assumed to have no saturation, for example, an implied value
of 100%.)
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PM Motor Lq Inductance
Usage Access Data Type Default Min Max Semantics of Values
Required Set/SSV* REAL 0 0 Henries
(IPM Only) DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The PM Motor Lq Inductance attribute is a floating point value that specifies the
phase-to-neutral, q-axis, inductance of an interior permanent magnet motor.
PM Motor Ld Inductance
Usage Access Data Type Default Min Max Semantics of Values
Required Set/SSV* REAL 0 0 Henries
(IPM Only) DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The PM Motor Ld Inductance attribute is a floating point value that specifies the
phase-to-neutral, d-axis, inductance of an interior permanent magnet motor.
PM Motor Lq Flux Saturation
Usage Access Data Type Default Min Max Semantics of Values
Optional Set REAL [8] [100, 100, 0 100 % Nominal Inductance
(IPM Only) 100, 100,
100, 100,
100, 100]
DB
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. The units for q-axis flux saturation values are percent of Nominal
Inductance, such that a value of 100% means no saturation, and 90% means the
inductance is 90% of its value at zero current given by the PM Motor Lq
Inductance attribute.
The first array entry specifies the flux saturation value at 25% of the Continuous
Current Rating; the second entry specifies the value at 50%, and so on up to the
last entry, which specifies the value at 200% of the Peak Current Rating. (At zero
current, the motor is assumed to have no saturation, for example, an implied value
of 100%.)
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PM Motor Ld Flux Saturation
Usage Access Data Type Default Min Max Semantics of Values
Optional Set REAL 100 0 100 % Nominal Inductance
(IPM Only) DB
The PM Motor Lq Flux Saturation attribute is an array of floating point values
that specify the amount of d-axis flux saturation in the motor at rated current. The
units for d-axis flux saturation values are percent of Nominal Inductance, such
that a value of 100% means no saturation, and 90% means the inductance is 90%
of its value at zero current given by the PM Motor Ld Inductance attribute.
The PM Motor Ld Flux Saturation value specifies the d-axis saturation at 100% of
the Continuous Current Rating.
PM Motor Extended Speed Permissive
Usage Access Data Type Default Min Max Semantics of Values
Optional - PVT Set/SSV USINT 0 0 1 Enumeration:
(PM Only) 0 = False
1 = True
The PM Motor Extended Speed Permissive attribute value determines whether
the speed of a PM motor is allowed to exceed the Bus Overvoltage Speed. Setting
this value to True removes velocity limit protection against Bus Overvoltage
conditions associated with Rotary and Linear PM motors. In this case it is critical
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.
The PM Motor Extended Speed Permissive value also determines the values of the
Motor Overspeed Factory Limit and Motor Overspeed User Limit that provide
overspeed protection. If the PM Motor Extended Speed Permissive is False, the
Motor Overspeed Limits will be based on the Bus Overvoltage Speed. If the PM
Motor Extended Speed Permissive is True, the Motor Overspeed Limits will be
based on the Max Extended Speed value.
See also
General Motor Attributes on page 511
Induction Motor Attributes on page 524
Linear PM Motor Attributes on page 526
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Motor Attributes Model on page 64
Rotary PM Motor Attributes on page 534
General Rotary Motor These are the motor configuration attributes that apply specifically to rotary
motor types.
Attributes
Rotary Motor Poles
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/GSV UINT PM: 8 2 max int
IM: 4
DB
The Rotary Motor Poles attribute is an integer that specifies the number of poles
per revolution for rotary motors. This value is always an even number, as poles
always exist in pairs.
Rotary Motor Inertia
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/SSV# REAL 0 0 Inertia Units
DB
# 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.
Rotary Motor Rated Speed
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/GSV REAL 0 0 RPM
DB
The Rotary Motor Rated Speed attribute is a floating point value that specifies the
nameplate rated speed of a rotary motor. For PM motors, this is generally specified
at rated voltage based on either rated current, rated torque, or rated power. For
induction motors this value is the speed of the motor driven at rated frequency
under rated torque load. This value is synonymous with the term base speed.
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Rotary Motor Max Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 RPM
DB
The Rotary Motor Max Speed attribute is a floating point value that specifies the
absolute maximum operating speed of a rotary motor in units of RPM. 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. Specifically,
this value can represent the maximum safe operating speed, maximum continuous
no-load speed, maximum encoder speed, maximum continuous motor bearing
speed, or maximum motor speed based on the drive power structure voltage limit.
This value can be used by the drive to determine the Rotary Motor Overspeed
Factory Limit.
Rotary Motor Damping Coefficient
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 N-m/Radians/sec
DB
The Rotary Motor Damping Coefficient attribute is a floating point value that
specifies the damping, or viscous friction, associated with a rotary motor.
Rotary Motor Fan Cooling Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 RPM
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.
Rotary Motor Fan Cooling Derating
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 % Motor Rated
The Rotary Motor Fan Cooling Derating attribute selects the % derating of the
motor when the motor is operating at a speed below the specified Motor Fan
Cooling Speed. A value of 70% would indicate that the motor can only run at 70%
rated continuous current when operating below the Motor Fan Cooling Speed.
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See also
General Motor Attributes on page 511
General Permanent Magnet Motor Attributes on page 519
General Linear Motor Attributes on page 509
Rotary PM Motor Attributes on page 534
Induction Motor Attributes These are the motor configuration attributes that apply specifically to induction
motor types.
Induction Motor Rated Frequency
Usage Access Data Default Min Max Semantics of Values
Type
Required - D Set/GSV REAL 60 0 Hertz
DB
The Induction Motor Rated Frequency attribute is a floating point value that
specifies the nameplate frequency rating of an induction motor.
Induction Motor Flux Current
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/SSV* REAL 0 0 Amps (RMS)
DB
FD
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis
Status is true).
The Induction Motor Flux Current attribute is an ID Current Reference that is
required to generate full motor flux. This value is closely approximated by the No
Load Motor Rated Current commonly found in Induction Motor data sheets.
Induction Motor Stator Resistance
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/SSV* REAL 0 0 Ohms
DB
FD
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis
Status is true).
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The Induction Motor Stator Resistance attribute is a floating point value that
specifies the Y circuit, phase-neutral, winding resistance of the stator as shown as
R 1 in the IEEE motor model.
Induction Motor Stator Leakage Reactance
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/SSV* REAL 0 0 Ohms
DB
FD
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis
Status is true).
The Induction Motor Stator Leakage Reactance attribute is a floating point value
that specifies the Y circuit, phase-neutral, leakage reactance of the stator winding,
at rated frequency, as shown as X 1 in the IEEE motor model.
Induction Motor Magnetization Reactance
Usage Access Data Default Min Max Semantics of Values
Type
Optional1 Set/SSV* REAL 0 0 Ohms
DB
1
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).
The Induction Motor Magnetization Reactance attribute is a floating point value
that specifies the Y circuit, phase-neutral, magnetizing reactance of the motor, at
rated frequency, as shown as X m in the IEEE motor model.
Induction Motor Rotor Resistance
Usage Access Data Default Min Max Semantics of Values
Type
Optional1 Set/SSV* REAL 0 0 Ohms
DB
1
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).
The Induction Motor Rotor Resistance attribute is a floating point value that
specifies the phase-neutral equivalent stator-referenced winding resistance of the
rotor as shown as R 2 ' in the IEEE motor model.
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Induction Motor Rotor Leakage Resistance
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/SSV* REAL 0 0 Ohms
DB
FD
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis
Status is true).
The Induction Motor Rotor Leakage Resistance attribute is a floating point value
that specifies the Y circuit, phase-neutral, equivalent stator-referenced leakage
inductance of the rotor winding, at rated frequency, as shown as X 2 ' in the IEEE
motor model.
Induction Motor Rated Slip Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/SSV* REAL 0 0 RPM (rotary motor type)
FD m/s (linear motor 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 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 on page 511
General Permanent Magnet Motor Attributes on page 519
Linear PM Motor Attributes on page 526
Motor Attributes on page 64
Rotary PM Motor Attributes on page 534
Linear PM Motor Attributes These are the motor configuration attributes that apply specifically to linear PM
motor types.
PM Motor Rated Force
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/GSV REAL 0 0 N
DB
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The PM Motor Rated Force attribute is a floating point value that specifies the
nameplate continuous force rating of a linear permanent magnet motor in
Newtons (N).
PM Motor Force Constant
Usage Access Data Default Min Max Semantics of Values
Type
Optional Set/SSV* REAL 0 0 N/Amp (RMS)
DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
The PM Motor Force Constant attribute is a floating point value that specifies the
force constant of a linear permanent magnet motor in Newtons per RMS Amp.
PM Motor Linear Voltage Constant
Usage Access Data Default Min Max Semantics of Values
Type
Required Set/SSV* REAL 0 0 Volts (RMS) / (m/s)
DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status
is true).
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 rms ) = 1.732 * Ke (V rms /(m/s))
PM Motor Linear Bus Overvoltage Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional - PVT Set/GSV REAL 0 0 m/s
(PM Only) FD
The PM Motor Linear Bus Overvoltage Speed attribute value corresponds to the
linear motor speed at which the back-EMF of the motor equals the maximum
operational bus voltage of the drive. When the extended speed range of a PM
motor is not permitted (PM Motor Extended Speed Permissive is False), this value
can be used to limit motor speed to protect the drive from damage due to bus
overvoltage conditions that can occur when disabling a PM motor at high speed.
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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
Limit value using the velocity limiter function. If the signal entering the velocity
limiter exceeds this velocity limit value, and the PM Motor Extended Speed
Permissive is False, the velocity limiter clamps the velocity reference to this value
and sets the Velocity Limit status bit. If the PM Motor Extended Speed Permissive
is True, or the value of this attribute is 0, this limit is not applied.
When the extended speed range of a PM motor is not permitted, overvoltage
protection is also provided through motor overspeed detection based on the
Motor Overspeed Factory Limit and Motor Overspeed User Limit. Exceeding
these limits results in a Motor Overspeed FL or UL Axis Exception. Overspeed
detection is the only source of protection when the axis is configured for Torque
Loop operation.
PM Motor Linear Max Extended Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional - PVT Set/SSV REAL 0 0 or m/s
(PM Only) FD Linear
Motor
Max
Speed
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.
When configured for Position Loop or Velocity Loop operation, this overspeed
protection includes limiting the magnitude of the velocity reference value allowed
into the velocity summing junction using the velocity limiter function. If the
signal entering the velocity limiter exceeds this velocity limit value, the velocity
limiter clamps the velocity reference to this value and sets the Velocity Limit status
bit. If the value of this attribute is 0, this limit is not applied.
When the extended speed range of a PM motor is permitted, overspeed protection
is also provided through motor overspeed detection based on the Motor
Overspeed Factory Limit and Motor Overspeed User Limit. Exceeding these
limits results in a Motor Overspeed FL or UL Axis Exception. Overspeed
detection is the only source of protection when the axis is configured for Torque
Loop operation.
If the related optional attribute, Rotary or Linear Motor Max Speed, is supported,
software will apply this maximum speed value as the Max Value for this attribute.
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See also
General Permanent Magnet Motor Attributes on page 519
General Rotary Motor Attributes on page 522
General Linear Motor Attributes on page 509
Induction Motor Attributes on page 524
Velocity Loop Signal Attributes on page 307
Interior Permanent The following attribute tables list the motor configuration attributes that apply
only to Interior Permanent Magnet (IPM) motor types.
Magnet Motor Attributes
PM Motor Lq Flux Inductance
Usage Access Data Default Min Max Semantics of Values
Type
Required - D SSV REAL 0 0 - Henries
DB
A floating point value that specifies the phase-to-neutral, q-axis, inductance of an
interior permanent magnet motor.
PM Motor Ld Flux Inductance
Usage Access Data Default Min Max Semantics of Values
Type
Required SSV REAL 0 0 - Henries
DB
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 Default Min Max Semantics of Values
Type
Optional - D SSV REAL 100 0 100 % Nominal Inductance
DB
An array of floating point values that specify the amount of d-axis flux saturation
in the motor at rate current. The units for d-axis flux saturation values are
percent of Nominal Inductance, such that a value of 100% means no saturation,
and 90% means the inductance is 90% of its value at zero current given by the PM
Motor Ld Inductance attribute. The PM Motor Ld Flux Saturation value specifies
the d-axis flux saturation at 100% of the Continuous Current Rating.
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PM Motor Ld Flux Saturation
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D SSV REAL 100 0 100 % Nominal Inductance
DB
An array of floating point values that specify the amount of d-axis flux saturation
in the motor at rate current. The units for d-axis flux saturation values are
percent of Nominal Inductance, such that a value of 100% means no saturation,
and 90% means the inductance is 90% of its value at zero current given by the PM
Motor Ld Inductance attribute. The PM Motor Ld Flux Saturation value specifies
the d-axis flux saturation at 100% of the Continuous Current Rating.
Commutation Offset Compensation
Usage Access Data Default Min Max Semantics of Values
Type
Optional - CE SSV REAL 0 0 - Electrical Degrees
This value specifies the change in the Commutation Offset value in units of
electrical degrees as a linear function of current. When the Iq current is +100% of
rated continuous current, the Commutation Offset value is decreased by the value
of this attribute. When the Iq current is -100% the Commutation Offset is
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 Default Min Max Semantics of Values
Type
Required - D GSV REAL - - - Henries
This floating point value represents the phase-to-phase q-axis motor inductance
measured by the Motor Test procedure.
Motor Test Ld Inductance
Usage Access Data Default Min Max Semantics of Values
Type
Required - D GSV REAL - - - Henries
This floating point value represents the phase-to-phase d-axis motor inductance
measured by the Motor Test procedure.
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Motor Test Lq Flux Saturation
Usage Access Data Default Min Max Semantics of Values
Type
Required - D GSV REAL [8] - - - % Nominal Inductance
This array of floating point values 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.
Motor Test Ld Flux Saturation
Usage Access Data Default Min Max Semantics of Values
Type
Required - D GSV REAL - - - % Nominal Inductance
This floating point value represents the phase-to-phase d-axis stator inductance of
the motor as measured by the Motor Test procedure expressed as a percentage of
the measured Nominal Inductance, Ld, at 100% rated continuous current.
Motor Test Max Speed
Usage Access Data Default Min Max Semantics of Values
Type
Required - D GSV 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.
Motor Test Commutation Offset Comp
Usage Access Data Default Min Max Semantics of Values
Type
Required - D GSV REAL - - - Electrical Degrees
This floating point value represents the change in motor Commutation Offset at
rated continuous current as measured by the Motor Test procedure.
See also
Interpret the Attribute Tables on page 93
Motion Control Configuration Attributes on page 433
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Load Transmission and Actuator These are the motor configuration attributes that apply specifically to rotary
transmission and linear actuator mechanisms associated with the axis.
Attributes
Load Type
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set/GSV USINT 0 - - Enumeration
DB 0 = Direct Rotary
1 = Direct Linear
2 = Rotary Transmission
3 = Linear Actuator
4-255 = Reserved
The Load Type attribute is used to determine how the load is mechanically linked
to the motor. Direct enumerations indicate that the motor is directly coupled to
the load. Rotary enumerations indicate that the load is rotating and load dynamics
are measured using a rotary system of units. Linear enumeration indicate that the
load is moving linearly and load dynamics are measured using a linear system of
units.
Transmission Ratio Input
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV DINT 1 1 231-1 Input Shaft Revs
DB
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 Data Default Min Max Semantics of Values
Type
Required - All Set/GSV DINT 1 1 231-1 Output Shaft Revs
DB
The Transmission Ratio Output attribute is an integer number of output shaft
revolutions per transmission associated with the rotary transmission.
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Actuator Type
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV USINT 0 - - Enumeration
DB 0 = None (R)
1 = Screw (O)
2 = Belt and Pulley (O)
3 = Chain and Sprocket (O)
4 = Rack & Pinion (O)
5-255 = Reserved
The Actuator Type attribute indicates the type of mechanism used for linear
actuation.
Actuator Lead
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV REAL 1 0+ Actuator Lead Units
DB
The Actuator Lead attribute is a floating point value that represents the lead or
pitch of a screw actuator that is a measure of the linear movement of the screw
mechanism per revolution of the screw shaft.
Actuator Lead Unit
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV USINT 0 - - Enumeration
0 = mm/Rev
1 = Inch/Rev
2-255 = Reserved
The Actuator Lead Unit attribute indicates the units of the Actuator Lead
attribute.
Actuator Diameter
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV REAL 1 0+ Actuator Diameter Units
The Actuator Diameter attribute is a floating point value that represents the
diameter of the pulley, sprocket, or pinion used to convert rotary motion into
tangential linear displacement of the load. The Actuator Diameter is internally
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converted to circumference of the pulley, sprocket, or pinion to determine the
amount of tangential displacement per revolution.
Actuator Diameter Unit
Usage Access Data Default Min Max Semantics of Values
Type
Required - All Set/GSV USINT 0 - - Enumeration
0 = mm
1 = Inch
2-255 = Reserved
The Actuator Diameter Unit attribute is a value that indicates the units of the
Actuator Diameter attribute.
See also
Motor Attributes on page 64
General Motor Attributes on page 511
General Permanent Magnet Motor Attributes on page 519
General Rotary Motor Attributes on page 522
General Linear Motor Attributes on page 509
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 Min Max Semantics of Values
Optional Set/GSV REAL 0 0 N-m
DB
The PM Motor Rated Torque attribute is a float that specifies the nameplate
continuous torque rating of a rotary permanent magnet motor.
PM Motor Torque Constant
Usage Access Data Type Default Min Max Semantics of Values
Optional Set/SSV* REAL 0 0 N-m/Amp (RMS)
DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is
true).
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The PM Motor Torque Constant attribute is a float that specifies the torque
constant, Kt, of a rotary permanent magnet motor in Newton-meters per RMS
Amp.
PM Motor Rotary Voltage Constant
Usage Access Data Type Default Min Max Semantics of Values
Required Set/SSV* REAL 0 0 Volts (RMS) / KRPM
DB
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is
true).
The PM Motor Rotary Voltage Constant attribute is a float that specifies the
voltage, or back-EMF, constant of a rotary permanent magnet motor in
phase-to-phase RMS Volts per KRPM.
If the optional PM Motor Torque Constant, Kt, is not explicitly supported in the
implementation the value may be computed from the PM Motor Rotary Voltage
Constant, Ke, according to this equation: Kt (N-m/A rms ) = 0.01654 * Ke
(V rms /Krpm).
PM Motor Rotary Bus Overvoltage Speed
Usage Access Data Type Default Min Max Semantics of Values
Optional - PVT Set/GSV REAL 0 0 RPM
PM Only FD
This value corresponds to the rotary motor speed at which the back-EMF of the
motor equals the maximum operational bus voltage of the drive. When the
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
Limit value using the velocity limiter function. If the signal entering the velocity
limiter exceeds this velocity limit value, and the PM Motor Extended Speed
Permissive is False, the velocity limiter clamps the velocity reference to this value
and sets the Velocity Limit status bit. If the PM Motor Extended Speed Permissive
is True, or the value of this attribute is 0, this limit is not applied.
When the extended speed range of a PM motor is not permitted, overvoltage
protection is also provided through motor overspeed detection based on the
Motor Overspeed Factory Limit and Motor Overspeed User Limit. Exceeding
these limits results in a Motor Overspeed FL or UL Axis Exception. Overspeed
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detection is the only source of protection when the axis is configured for Torque
Loop operation.
PM Motor Rotary Max Extended Speed
Usage Access Data Type Default Min Max Semantics of Values
Optional - PVT Set/SSV REAL 0 0 RPM
PM only FD or
Rotary Motor
Max Speed
When the extended speed range of a PM motor is permitted (PM Motor Extended
Speed Permissive is True), this value can be used to limit the speed of a rotary
motor to protect the motor or load from damage due to an overspeed condition.
When configured for Position Loop or Velocity Loop operation, this overspeed
protection includes limiting the magnitude of the velocity reference value allowed
into the velocity summing junction using the velocity limiter function. If the
signal entering the velocity limiter exceeds this velocity limit value, the velocity
limiter clamps the velocity reference to this value and sets the Velocity Limit status
bit. If the value of this attribute is 0, this limit is not applied.
When the extended speed range of a PM motor is permitted, overspeed protection
is also provided through motor overspeed detection based on the Motor
Overspeed Factory Limit and Motor Overspeed User Limit. Exceeding these
limits results in a Motor Overspeed FL or UL Axis Exception. Overspeed
detection is the only source of protection when the axis is configured for Torque
Loop operation.
If the related optional attribute, Rotary or Linear Motor Max Speed, is supported,
software will apply this maximum speed value as the Max Value for this attribute.
See also
General Motor Attributes on page 511
General Permanent Magnet Motor Attributes on page 519
General Rotary Motor Attributes on page 522
Motor Attributes Model on page 64
Velocity Loop Signal Attributes on page 307
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Safety Attributes The following attributes tables contains attributes associated with safety
functionality.
Axis Safety attributes are used with integrated CIP Safety functionality associated
with a Motion Device Axis Object instance included in a CIP Motion Safety
Drive. These attributes reflect the current state of an embedded Safety Core
within for a CIP Motion Safety Drive device that is designed to interoperate with
an external Safety Controller using a CIP Safety network connection. For this
reason, integrated safety functions are also referred to as "networked safety".
Guard Safety attributes are used with built-in Safety functionality associated with
a Motion Device Axis Object instance. These built-in safety attributes relate to the
behavior of a configurable Safety Core (SMSC) within the drive that executes
basic drive safety functions using hardwired safety inputs and safety outputs
without the services of a CIP Safety network connection.
Axis Safety Status Attributes The following attribute tables contains axis attributes used with the integrated
Safety functionality associated with a Motion Device Axis Object instance
included in a CIP Motion Safety Drive. These attributes reflect the current state
of an embedded Safety Core within for a CIP Motion Safety Drive device that is
designed to interoperate with an external Safety Controller using a CIP Safety
connection.
In the Logix Integrated Architecture, many of the safety functions can be executed
either in the drive or in the associated safety controller. A unique feature of the
architecture is that regardless of where the safety function is executed, the Axis
Safety Status and Axis Safety Fault information reported by these safety functions
is the same. This is achieved by the Safety Status Pass Thru feature where safety
functions executing in the safety controller transmit their fault and status
information to the drive via the Safety Output Assembly where this information is
combined with the fault and status information of safety function executing in the
Safety Core of the drive. The combined safety function fault and status data is
then "Passed Thru" to the associated Motion Device Axis Object instance
attributes.
The following table identifies the supported safety functions:
Short Name Full Name Control Drive Description
STO Safe Torque Off No Yes Disables associated drive power structure.
SBC Safe Brake Control Yes No Engages safety brake.
SS1 Safe Stop 1 Yes Yes Monitors Category 1 Stop followed by STO.
SS2 Safe Stop 2 Yes No Monitors Category 2 Stop followed by SOS.
SOS Safe Operating Stop Yes No Monitor standstill condition for movement.
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Short Name Full Name Control Drive Description
SMT Safe Motor No No Monitor motor temperature for
Temperature overtemperature.
SLT Safely-limited Torque No Yes Prevents the motor from exceeding the
specified torque limit.
SLA Safely-limited No No Monitor acceleration exceeding configured
Acceleration limit.
SLS Safely-limited Speed Yes No Prevents the motor from exceeding the
specified speed limit.
SDI Safe Direction Yes No Monitor for change in direction of travel.
SSM Safe Speed Monitor Yes No Monitor speed exceeding configured limit.
SLP Safely-limited position Yes No Prevents the motor shaft from exceeding the
specified position limit(s).
SCA Safe CAM Yes No Monitors whether the motor shaft position is
within a specified range.
SFX Safe Feedback Interface Yes No Scales and references safety feedback data.
The Axis Safety State, Axis Safety Status, and Axis Safety Fault attributes defined
below are based on the values read from attributes resident in objects associated
with the Safety Core and are used by the motion control system to monitor the
behavior of the Safety Core via the CIP Motion connection.
Axis Safety State
Data
Usage Access T Default Min Max Semantics of Values
Type
Optional - DE Get/GSV T 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
7 = Configuring
8 = Not Configured
9-50 = Reserved by CIP
51 = Not Configured (Torque
Permitted)
52 = Running (Torque
Permitted)
53-99 = Device Specific
100-255 = Vendor Specific
The Axis Safety State attribute is an 8-bit enumerated value that indicates the state
of the associated Safety Supervisor object of the device as it applies to this axis
instance. There is only one Safety Supervisor object servicing the CIP Motion
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device so its state generally applies to all applicable Axis instances of the device.
This means that all instances of this object generally have the same state for this
attribute.
The two exceptions to this general state behavior are the Waiting for TUNID
with Torque Permitted (state=51) and Executing with Torque Permitted
(state=8) states that have axis specific qualification. When the Safety Supervisor
State is Waiting for TUNID with Torque Permitted, if the Axis Safety Status bit,
Safe Torque Disabled, is set, the Axis Safety State is set to Waiting for TUNID.
When the Safety Supervisor State is Executing with Torque Permitted, if the Axis
Safety Status bit, Safe Torque Disabled, is set, the Axis Safety State is Executing.
Axis Safety State Bit Descriptions
Bit Safety Description
Supervisor State
0 = Undefined/Unknown (No Undefined No motion connection has been opened to the drive. Actual
MotionConnection) safety state is unknown.
1 = Self-Testing Self-Testing The safety function of drive has been initialized; all
attributes given appropriate defaults and safety faults have
been reset.
Device is performing tests to determine if it is qualified to
execute its safety function.
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. Configuring
and Configured are persistent states that are preserved
through power cycles.
3 = Self-Test Exception Self-Test The safety function of drive has detected an exception
Exception condition during self-testing. The details of the exception
are stored in the appropriate attribute values of the Safety
Supervisor object.
4 = Running Executing The safety function of drive is fully configured with an open
safety output connection and executing.
In this state, the drive is operational and free to apply
torque to the motor as long as there are no safety demands.
5 = Recoverable Fault Abort The safety function of drive is in a faulted state that can be
recovered by cycling the power or reconnecting the drive.
6 = Unrecoverable Fault Critical Fault The safety function of drive is in a faulted state for which
there is no recovery other than replacing the module.
7 = Configuring Configuring The safety function of drive has been initialized,
successfully completed self-testing, and is in the process of
receiving a valid configuration from a safety controller.
Configuring and Idle are persistent states that are preserved
through power cycles.
8 = Not Configured Waiting for TUNID The safety function of drive has exited Self-testing and
recognizes that it has the out-of-box default configuration
values, for example it has not been configured by a safety
controller. The drive remains in this state until a safety
controller initiates the configuration process. Application of
torque to the motor is NOT permitted in this state.
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Bit Safety Description
Supervisor State
9-50 = Reserved - -
51 = Not Configured (Torque Waiting for TUNID Same behavior as Not Configured state with the exception
Permitted) with Torque that the drive axis is operational and the safety function
Permitted will permit application of torque to the motor.
52 = Running (Torque Permitted) Executing with Same behavior as Running state with the exception that
Torque Permitted the drive axis is operational and the safety function will
permit application of torque to the motor.
Entering this state from the Running state requires a
successful STO Mode change service applied while the
safety controller is in Program Mode.
53-99 = Device Specific - -
100-255 = Vendor Specific - -
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Axis Safety Status
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV T 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
6 = Safe Brake Control (SBC)
Engaged
7 = Safe Stop 1 (SS1) Active
8 = Safe Stop 2 (SS2) Active
9 = Safe Operating Stop (SOS)
Active
10 = Safe Operating Stop
(SOS) Standstill
11 = Safe Motor Temperature
(SMT) Active
12 = Safe Motor (SMT)
Overtemperature
13-15 = (reserved)
16 = Safe Speed Monitoring
(SSM) Active
17 = Safe Speed Monitoring
(SSM) Status
18 = Safe Limited Speed (SLS)
Active
19 = Safe Limited Speed (SLS)
Limit
20 = Safe Limited Accel (SLA)
Active
21 = Safe Limited Accel (SLA)
Limit
22 = Safe Direction (SDI)
Active
23 = Safe Direction (SDI)
Limit
24 = Safe Positive Motion
25 = Safe Negative Motion
26 = Safe CAM (SCA) Active
27 = Safe CAM (SAC) Status
28 = Safe Limited Position
(SLP) Active
29 = Safe Limited Position
(SLP) Limit
30 = Safety Output
Connection Closed
31 = Safety Output
Connection Idle
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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. The lower 16-bits are the current Safety Stop Status attribute
value of the Safety Stop Functions object associated with this axis instance. The
upper 16-bits are the current Safety Limit Status attribute value of the Safety
Limit Functions object associated with this axis instance with the exception of the
two most significant bits that are masked off to accommodate two Safety Output
Connection status bits. Specifically, the Safety Output Connection Closed bit,
when set, indicates that the Safety Output Connection has either not been opened
or has been closed. The Safety Output Connection Idle bit, when set, indicates
that the Safety Output Connection's Run/Idle bit has been set to Idle.
For Rockwell Automation safety drive devices, the safety status data from the
drive's Safety Core may include safety status from the Safety Controller through
the Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Status attribute to reflect safety function status conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive's
Safety Core.
Axis Safety Status - RA
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV T DWORD - - - Bitmap:
Safety only 0 = Safe Brake Integrity
1 = Safe Feedback Homed
2-31 = (reserved)
The Axis Safety Status - RA attribute is a collection of bits indicating the status of
the Rockwell Automation specific safety functions for the axis as reported by the
embedded Safety Core of the device. For Rockwell Automation safety drive
devices, the safety status data from the drive's Safety Core may include safety status
from the Safety Controller through the Pass Thru data included in the Safety
Output assembly. This allows the Axis Safety Status RA attribute to reflect safety
function status conditions regardless of where the safety function is executed, be it
in the Safety Controller, or the drive's Safety Core.
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Axis Safety Faults
Usage Access T Data Type Default Min Max Semantics of Values
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) Fault
7= Safe Brake (SBC) Fault
8 = Safe Motor Temperature Fault
(SMT)
9-15 = (reserved)
16 = Safe Speed Monitor (SSM)
Fault
17 = Safe Limited Speed (SLS) Fault
18 = Safe Limited Accel (SLA) Fault
19 = Safe Direction (SDI) Fault
20 = Safe CAM (SCA) Fault
21 = Safe Limited Protection (SLP)
Fault
22-29 = (reserved)
30 = Safety Validator Fault
31 = Safety Abort Fault
The Axis Safety Faults attribute is a collection of bits indicating the safety fault
status of the axis associated with standard safety functionality as reported by the
embedded Safety Core of the device. When a safety fault condition occurs, the
Safety Core forces the axis into a Safe State and if the Safety Fault Action is set to
Major Fault or Minor Fault, the corresponding bit is set in the Axis Safety Faults
attribute. An active axis safety fault bit remains latched even if the underlying
safety fault condition is cleared by the Safety Core. A Fault Reset Request to the
associated axis clears the axis safety fault bits, but the bits immediately set again if
the underlying safety fault conditions are still present. The Axis Safety Faults
bitmap is a concatenation of two 16-bit safety fault attributes. The lower 16-bits is
the current Safety Stop Faults attribute value of the Safety Stop Functions object
associated with this axis instance. The upper 16-bits is the current Safety Limit
Faults attribute value of the Safety Limit Functions object associated with this axis
instance. Bits 30 and 31 are used to indicate two safety faults conditions that are
not tied to the drive safety functions. Bit 30 indicates that the Safety Validator
object (0x3A) has detected a safety connection fault. Bit 31 indicates that the
Safety Supervisor object (0x39) has detected a recoverable fault and transitioned to
the Abort state.
For Rockwell Automation safety drive devices, the safety fault status data from the
drive's Safety Core may include safety faults from the Safety Controller through
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the Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Faults attribute to reflect safety function fault conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive's
Safety Core.
Axis Safety Faults - RA
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV T DWORD - - - Bitmap:
Safety only 0 = (reserved)
1 = Safety Feedback Interface
(SFX) Fault
2-31 = (reserved)
The Axis Safety Faults - RA attribute is a collection of bits indicating the safety
fault status of the axis associated with Rockwell Automation specific safety
functionality as reported by the embedded Safety Core of the device. When a
safety fault condition occurs, the Safety Core forces the axis into a Safe State and if
the Safety Fault Action is set to Major Fault or Minor Fault, the corresponding bit
is set in the Axis Safety Faults RA attribute. An active axis safety fault bit remains
latched even if the underlying safety fault condition is cleared by the Safety Core.
A Fault Reset Request to the associated axis clears the axis safety fault bits, but the
bits immediately set again if the underlying safety fault conditions are still present.
For Rockwell Automation safety drive devices, the safety fault status data from the
drive's Safety Core may include safety faults from the Safety Controller through
the Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Faults RA attribute to reflect safety function fault conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive's
Safety Core.
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Axis Safety Alarms
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV T DWORD - - - Bitmap:
Safety only 0 = (reserved)
1 = Safety Core Alarm
2 = Safety Feedback Alarm
3 = Safe Torque Off Alarm
4 = SS1 Alarm
5 = SS2 Alarm
6 = SOS Alarm
7 = SBC Alarm
8 = SMT Alarm
9-15 = (reserved)
16 = SSM Alarm
17 = SLS Alarm
18 = SLA Alarm
19 = SDI Alarm
20 = SCA Alarm
21 = SLP Alarm
22-29 = (reserved_
30 = Safety Validator Alarm
31 = Safety Abort Alarm
The Axis Safety Alarms attribute is a collection of bits indicating the safety alarm
status of the axis associated with standard safety functionality as reported by the
embedded Safety Core of the device. When a safety fault condition occurs, the
Safety Core forces the axis into a Safe State and, if the Safety Fault Action is set to
Alarm, the corresponding bit is set in the Axis Safety Alarms attribute. An active
axis safety alarm bit shall remain set as long as the underlying safety fault condition
is present in the Safety Core.
The Axis Safety Alarm bitmap is a concatenation of two 16-bit safety fault
attributes. The lower 16-bits is the current Safety Stop Faults attribute value
(Attribute 41) of the Safety Stop Functions object associated with this axis
instance. The upper 16-bits is the current Safety Limit Faults attribute value
(Attribute 41) of the Safety Limit Functions object associated with this axis
instance. Bit 30 indicates that the Safety Validator object (0x3A) has detected a
safety connection fault. Bit 31 indicates that the Safety Supervisor object (0x39)
has detected a recoverable fault and transitioned to the Abort state.
For Rockwell Automation safety drive devices, the safety fault status data from the
drive’s Safety Core may include safety faults from the Safety Controller via the
Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Alarms attribute to reflect safety function fault conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive’s
Safety Core.
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Axis Safety Alarms - RA
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV T DWORD - - - Bitmap:
Safety only 0 = (reserved)
1 = Safety Feedback Interface
(SFX) Fault
2-31 = (reserved)
The Axis Safety Alarms - RA attribute is a collection of bits indicating the safety
alarm status of the axis associated with RA specific safety functionality as reported
by the embedded Safety Core of the device. When a safety fault condition occurs,
the Safety Core forces the axis into a Safe State and, if the Safety Fault Action is set
to Alarm, the corresponding bit is set in the Axis Safety Alarm RA attribute. An
active safety alarm bit remains set as long as the underlying safety fault condition is
present in the Safety Core.
For Rockwell Automation safety drive devices, the safety fault status data from the
drive’s Safety Core may include safety faults from the Safety Controller via the
Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Alarms RA attribute to reflect safety function fault conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive’s
Safety Core.
Safety Fault Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Set/SSV USINT 4 (D) - - Enumeration: (D)
Safety only 2 (E) 0 = Ignore (O)
1 = Alarm (O)
2 = Minor Fault (O)
3 = Major Fault (R)
4-254 = reserved
The Safety Fault Action attribute is an enumerated value that specifies the action
when the Safety Core reports a safety fault condition.
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Safe Torque Off Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set USINT FD - - Enumeration:
Safety Only 1 for C 0 = Disable and Coast
0 for F 1 = Current Decel and Disable
2 = Ramped Decel and
Disable
3-127 = (reserved)
130-255 = (vendor specific)
128 = DC Injection Brake
129 = AC Injection Brake
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Safe Torque Off Action attribute determines the stopping method for the
motor when:
• The drive detects a Safe Torque Off (STO) Active condition that the Safe
Stop 1 (SS1) Active condition does not initiate. The embedded Safety Core
through the Axis Safety Status attribute reports the condition.
• The Safe Torque Off Action Source is set to Connected Drive.
Each Safe Torque Off Action enumeration initiates one of the two defined
Stopping Sequences, Category 0 Stop, or Category 1 Stop. Each enumeration
definition follows the same enumerations defined for the Stopping Action
attribute.
Category 1 Stop enumerations of Current Decel & Disable or Ramped Decel &
Disable are also used with a configured delay between the STO Active condition
and Safe Torque Disabled. This allows the drive to bring the motor to a controlled
stop and engage a brake before disabling the power structure. Vertical load
applications use this feature.
Tip: An example of a configured delay between the STO Active condition and the Safe
Torque Disabled condition is STO to Safe Brake C=Control (SBC) Delay or STO delay.
Start Inhibited or Major Fault State occurs after applying the Stopping Sequence.
For either final state, the inverter power structure of the device is disabled with
integrity. The is enforced by the STO safety function of the Safety Core.
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Safe Torque Off Action Source
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/ USINT 0 - - Enumeration:
Safety Only SSV# 0 = Connected Drive (R)
1 = Running Controller (O)
2-127 = (reserved)
128-255 = (vendor specific)
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Safe Torque Off Action Source attribute determines whether the drive or the
controller initiates the stopping sequence in response a STO Active condition in
the Axis Safety Status attribute that was not initiated by an SS1 or Safe Stop 2
(SS2) Active condition.
When configured for Connected Drive (default), the drive will initiate the
stopping sequence according to the selected Safe Torque Off Action. However,
the drive must have an open connection to the controller for the configured
stopping action to occur. If the drive is not connected, the drive would have
already initiated the configured Connection Loss Stopping Action.
When configured for Running Controller, the stopping sequence is initiated by
the connected controller as long as the controller connection's "Run/Idle" bit in
the Real Time (RT) Header is indicating Run Mode. This allows the controller to
provide a programmed stopping action. If the controller is in Idle Mode, i.e. not
actively running the application program, the connected drive will initiate the
stopping sequence according to the configured Safe Torque Off Action. This
selection is only valid if the connected controller is supplying the "Run/Idle" Real
Time header.
Safe Stopping Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/ USINT 0 - - Enumeration:
Safety Only SSV# 0 = Current Decel
1 = Ramped Decel
2-127 = (reserved)
128-255 = (vendor specific)
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
When an SS1 or SS2 Active condition occurs, as indicated by the Axis Safety
Status attribute, and the Axis Safety Stopping Source is set to Connected Drive,
this value determines the stopping method the drive is to apply to the motor. The
selected stopping method is applied while in the Stopping state and the final state
after the stopping method completes is the Stopped state. In this final state the
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device's inverter power structure will either be Disabled and free of torque, if
initiated by an SS1 Active status bit, or actively held (Hold selection) in a static
condition if initiated by an SS2 Active status bit.
Safe Stopping Action Bit Descriptions
Bit Required/Opt Name Description
ional
0 R/C Current Decel Current Decel leaves the power structure and any active
O/F 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. Once at zero speed the position reference is
immediately set equal to the actual position to hold the
axis at standstill. If in velocity control mode, the drive forces
the velocity reference to zero. In either case, forcing the
position or velocity reference signals to a fixed value results
in a rapid increase in control loop error of the moving axis
that saturates the output current of the drive to the
configured Stopping Torque that brings the motor to a stop.
In torque control mode, the drive directly applies the
configured Stopping Torque to the torque command signal
to decelerate the motor. When the velocity feedback value
reaches zero speed, the torque command is set to zero. In
frequency control mode the Current Vector Limit attribute,
rather than the Stopping Torque attribute, is used to
regulate the stopping current. Once stopped, or the
configured Stopping Time, or factory limit expires, the
Current Decel stopping action is complete.
1 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. When initiating a Current Decel & Disable Stop, the
Ramp Generator is immediately activated and the drive no
longer follows command from the controller. The Ramp
Generator input is initialized to zero and the output is
initialized to the current speed of the motor, thus causing
the Ramp Generator output to ramp the motor from its
current speed down to zero according to the ramp control
parameters. Once stopped, or the configured Stopping Time
or factory timeout limit expires, the Ramped Decel stopping
action is complete.
2-127 Reserved
128-255 Vendor Specific
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Safe Stopping Action Source
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set/ USINT 0 - - Enumeration:
Safety Only SSV# 0 = Connected Drive (R)
1 = Running Controller (O)
2-127 = (reserved)
128-255 = (vendor specific)
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This attribute determines whether the drive or the controller initiates the
stopping sequence in response to an SS1 or SS2 Active bit transition in the Axis
Safety Status attribute.
When configured for Connected Drive (default), the drive will initiate the
stopping sequence according to the selected Safe Stopping Action. However, the
drive must have an open connection to the controller for the configured stopping
action to occur. If the drive is not connected, the drive would have already
initiated the configured Connection Loss Stopping Action.
When configured for Running Controller, the stopping sequence is initiated by
the connected controller as long as the controller connection's "Run/Idle" bit in
the Real Time (RT) Header is indicating Run Mode. This allows the controller to
provide a programmed stopping action. If the controller is in Idle Mode, i.e. not
actively running the application program, the connected drive will initiate the
stopping sequence according to the configured Safe Stopping Action. This
selection is only valid if the connected controller is supplying the "Run/Idle" Real
Time header.
Axis Safety Data A
Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV DWORD - - - General Purpose Data
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 T Data Type Default Min Max Semantics of Values
Optional - DE Get/GSV DWORD - - - General Purpose Data
Container
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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 B.
See also
Guard Safety Attributes on page 551
Guard Safety Status Attributes on page 552
Axis Exception Action on page 382
Guard Safety Attributes These are the attributes associated with the built-in Safety functionality of an axis.
These attributes relate to the behavior of a configurable Safety Core within the
drive that executes basic drive safety functions using hardwired safety inputs and
safety outputs. These functions do not require the services of a CIP Safety network
connection. This safety functionality covers the following safety functions as
defined by IEC-61800-5-2, EN-954-1, and IEC-60204 standards:
• Safe Restart
• Safe Stop
• Safe Limited Speed
• Safe Speed Monitoring
• Safe Maximum Speed
• Safe Direction Monitoring
• Safe Door Monitoring
• Safe Door Monitoring
The Guard Status and Guard Fault attributes are defined in the axis to monitor
the behavior of built-in Drive Safety functionality. The term Guard is used for
these status attributes to differentiate these attributes from the Safety status
attributes associated with the integrated Safety functionality provided by a CIP
Safety connection.
See also
Guard Safety Status Attributes on page 552
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Guard Safety Status Attributes The Guard Status attribute is a collection of bits indicating the safety status of the
motion axis.
Guard Status
Usage Access T Data Type Semantics of Values
Optional - D GSV T DWORD Bitmap
0 = Guard OK
1 = Guard Config Locked
2 = Guard Gate Drive Output
3 = Guard Stop Input
4 = Guard Stop Request
5 = Guard Stop In Progress
6 = Guard Stop Decel
7 = Guard Stop Standstill
8 = Guard Stop Output
9 = Guard Limited Speed Input
10 = Guard Limited Speed Request
11 = Guard Limited Speed Monitor In
Progress
12 = Guard Limited Speed Output
13 = Guard Max Speed Monitor In Progress
14 = Guard Max Accel Monitor In Progress
15 = Guard Direction Monitor In Progress
16 = Guard Door Control Lock
17 = Guard Door Control Output
18 = Guard Door Monitor Input
19 = Guard Door Monitor In Progress
20 = Guard Lock Monitor Input
21 = Guard Enabling Switch Input
22 = Guard Enabling Switch In Progress
23 = Guard Reset Input
24 = Guard Reset Required
25 = Guard Stop Input Cycle Required
26 = Reserved - Waiting for Stop Request
Removal
27...31 = Reserved
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Guard Status Bit Descriptions
Bit Name Description
0 Guard OK Indicates if the drive is free of any Guard Fault conditions.
1 Guard Config Locked Indicates that configuration data for the drive safety core has been
locked and cannot be modified.
2 Guard Gate Drive Output Indicates the state of the Gate Drive (MP OUT) circuit used to disable
the drive power structure.
3 Guard Stop Input Indicates the current state of the Safe Stop input.
4 Guard Stop Request Indicates if a safe stop operation has been requested. The safe stop
request can be initiated by the Safe Stop Input or in response to a
Safety Fault. The bit is only cleared by a successful safety reset.
5 Guard Stop In Progress Indicates if the Safe Stop (SS) function of the safety core is in
progress. This bit is set when the Safe Stop input transitions from on
to off and clears at the end of the stop delay or when a safety fault
occurs.
6 Guard Stop Decel Indicates if the Safe Stop (SS) function of the safety core is actively
decelerating the axis. This bit is set after the monitoring delay expires
and clears at the end of the stop delay or when a fault occurs.
7 Guard Stop Standstill Indicates if the Safe Stop (SS) function of the safety core is in the safe
stopped mode, for example, when it has successfully stopped the axis
and is performing zero speed monitoring. This bit is set after the stop
delay expires and clears when a fault occurs.
8 Guard Stop Output Indicates the current state of the Safe Stop output.
9 Guard Limited Speed Input Indicates the current state of the Safe Limited Speed (SLS) input.
10 Guard Limited Speed Request Indicates if a safe speed operation has been requested. The safe stop
request can be initiated by the Safe Limited Speed input. The bit is
only cleared by a successful safety reset.
11 Guard Limited Speed Monitor In Indicates if the Safe Speed (SLS/SSM) monitoring function of the
Progress safety core is actively checking speed. This bit is set when the Safe
Limited Speed input transitions from on to off and the associated
monitoring delay has expired.
12 Guard Limited Speed Output Indicates the current state of the Safe Limited Speed (SLS) output.
13 Guard Max Speed Monitor In Indicates if the Safe Max Speed (SMS) monitoring function of the
Progress safety core is in progress.
14 Guard Max Accel Monitor In Progress Indicates if the Safe Max Accel (SMA) monitoring function of the
safety core is in progress.
15 Guard Direction Monitor In Progress Indicates if the Safe Direction Monitoring (SDM) function of the safety
core is in progress.
16 Guard Door Control Lock Indicates if the Door Control Output is being commanded to the
Locked state.
17 Guard Door Control Output Indicates the current state of the Safe Door Control output.
18 Guard Door Monitor Input Indicates the current state of the Door Monitor (DM) input.
19 Guard Door Monitor In Progress Indicates if the Safe Door Monitoring (DM) function of the safety core
is in progress.
20 Guard Lock Monitor Input Indicates the current state of the Safe Lock Monitoring input.
21 Guard Enabling Switch Input Indicates the current state of the Safe Enabling Switch Monitor input.
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Bit Name Description
22 Guard Enabling Switch Monitor In Indicates if the Safe Enabling Switch Monitor (ESM) monitoring
Progress function of the safety core is in progress.
23 Guard Reset Input Indicates the state of the Safety Reset input use to initiate return to
normal operational state of the safety core.
24 Guard Reset Required Indicates that the drive safety function requires a Safety Reset to
permit return to normal operational state.
25 Guard Stop Input Cycle Required Indicates that the drive safety function requires a Stop Input Cycle to
Status permit return to normal operational state.
26 Reserved (Waiting for Stop Request
Removal)
27-31 Reserved
Guard Faults
Usage Access T Data Type Semantics
Optional - D GSV T 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
8 = Guard Feedback Position Compare Fault
9 = Guard Stop Input Fault
10 = Guard Stop Output Fault
11 = Guard Stop Decel Fault
12 = Guard Stop Standstill Fault
13 = Guard Stop Motion Fault
14 = Guard Limited Speed Input Fault
15 = Guard Limited Speed Output Fault
16 = Guard Limited Speed Monitor Fault
17 = Guard Max Speed Monitor Fault
18 = Guard Max Accel Monitor Fault
19 = Guard Direction Monitor Fault
20 = Guard Door Monitor Input Fault
21 = Guard Door Monitor Fault
22 = Guard Door Control Output Fault
23 = Guard Lock Monitor Input Fault
24 = Guard Lock Monitor Fault
25 = Guard Enabling Switch Monitor Input Fault
26 = Guard Enabling Switch Monitor Fault
27 = Guard Feedback 1 Voltage Monitor Fault
28 = Guard Feedback 2 Voltage Monitor Fault
29 = Reserved (RLM Reset Fault)
30...31 = Reserved
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The Guard Faults attribute is a collection of bits indicating the safety faults of the
drive axis. When a safety fault condition occurs the safety core processor always
requests a Safe Stop operation and notifies the drive controller to set the
appropriate Guard Faults bit. This bit remains latched even if the safety fault
condition is cleared in the safety core. A Fault Reset Request to the associated axis
clears the safety fault bits, but the bits set again immediately if the underlying
safety fault condition is still present.
Guard Faults Bit Descriptions
Bit Name Description
0 Reserved - Combined Faults
1 Guard Internal Fault An internal fault has been detected by the Safety Core
hardware. This can includes safety processor faults,
inter-processor communications faults, safety power supply
faults, and gate drive circuitry.
2 Guard Configuration Fault The safety configuration data is invalid.
3 Guard Gate Drive Fault Indicates that the Gate Drive (MP OUT) circuit used to disable
the drive power structure has detected an error.
4 Guard Reset Fault The Safety Reset input was ON at power up.
5 Guard Feedback 1 Fault A problem has been detected with the feedback 1 device.
6 Guard Feedback 2 Fault A problem has been detected with the feedback 2 device.
7 Guard Feedback Speed Compare Fault A speed miss-compare was detected between the two
feedback devices.
8 Guard Feedback Position Compare Fault A position discrepancy was detected between the two
feedback devices.
9 Guard Stop Input Fault A fault has been detected on the Safe Stop input(s).
10 Guard Stop Output Fault A fault has been detected on the Safe Stop cascading
outputs.
11 Guard Stop Decel Fault A speed fault was detected during the deceleration
monitoring.
12 Guard Stop Standstill Fault Zero speed was not detected by the end of the stop delay.
13 Guard Stop Motion Fault Motion was detected after stop was detected and the door
unlocked.
14 Guard Limited Speed Input Fault A fault has been detected on the Safe Limited Speed input(s).
15 Guard Limited Speed Output Fault A fault has been detected on the Safe Limited Speed outputs.
16 Guard Limited Speed Monitor Fault The Safe Limited Speed has been exceeded.
17 Guard Max Speed Monitor Fault The Safe Maximum Speed has been exceeded.
18 Guard Max Accel Monitor Fault The Safe Maximum Acceleration has been exceeded.
19 Guard Direction Monitor Fault Motion in the restricted direction has been detected.
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Bit Name Description
20 Guard Door Monitor Input Fault A fault has been detected on the Door Monitoring input(s).
21 Guard Door Monitor Fault The Door Monitoring inputs were detected as OFF when they
should have been ON.
22 Guard Door Control Output Fault A fault has been detected on the Door Control outputs.
23 Guard Lock Monitor Input Fault A fault has been detected on Lock Monitoring input(s).
24 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.
25 Guard Enabling Switch Monitor Input A fault has been detected on the Enabling Switch Monitor
Fault (ESM) input(s).
26 Guard Enabling Switch Monitor Fault The Enabling Switch Monitor (ESM) Inputs were detected as
OFF when they should have been ON.
27 Guard Feedback 1 Voltage Monitor Fault Monitored voltage level for the Feedback 1 device is out of
allowed range for operation.
28 Guard Feedback 2 Voltage Monitor Fault Monitored voltage level for the Feedback 2 device is out of
allowed range for operation.
29 Reserved (RLM Reset Fault)
30...31 Reserved
See also
Guard Safety Attributes on page 551
Stopping and Braking These are the active stopping and braking related attributes associated with a
Motion Control Axis.
Attributes
Stopping Action
Usage Access Data Default Min Max Semantics of Values
Type
Required - D Set USINT FD - - Enumeration:
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
5-127 = Reserved
130-255 = (vendor specific)
128 = DC Injection Brake
129 = AC Injection Brake
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
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When disabling or aborting an axis, through a Disable Request or an Abort
Request this value determines the stopping method to apply to the motor. Each
supported Stopping Action initiates one of three Stopping Sequences
(IEC60204-1 Category Stops 0, 1, and 2).
• 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.
In either final state the device's inverter power structure will either be Disabled
(Disable selection) and free of torque or actively held (Hold selection) in a static
condition. This attribute has no impact or relationship to the planner generated
acceleration and deceleration profiles. This attribute does not, in any way,
determine the stopping actions applied in response to fault conditions.
Connection Loss Stopping Action
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set USINT FD - - Enumeration:
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
5-127 = Reserved
128-255 = Vendor Specific
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
When a CIP Motion connection loss is detected, this value determines the
stopping method to apply to the motor. Each supported Stopping Action initiates
the associated Stopping Sequence (IEC60204-1 Category Stops 0, 1, and 2). If the
connection is closed intentionally using a Forward Close service, the selected
stopping method is applied while in the Stopping state and the final state after the
stopping method completes is the Initializing state. If the connection is
unintentionally lost and the resulting Node Fault generated (Node Fault Codes 1
or 6), the selected stopping method is applied while in the Aborting state and the
final state after the stopping method completes is the Major Faulted state. In
either final state the device’s inverter power structure will either be Disabled
(Disable selection) and free of torque or actively held (Hold selection) in a static
condition.
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Stopping Action Enumeration Definitions
Enum. Usage Name Description
0 R/D Disable and Disable and Coast immediately disables the device power structure
Coast and active control loops, which causes the motor to coast unless
some form of external braking is applied. This is equivalent to an
IEC-60204-1 Category 0 Stop.
1 R/C Current Decel Current Decel and Disable leaves the power structure and any active
O/F 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.
Once at zero speed the position reference is immediately set equal to
the actual position to hold the axis at standstill.
If in velocity control mode, the drive forces the velocity reference to
zero.
In either case, forcing the position or velocity reference signals to a
fixed value results in a rapid increase in control loop error of the
moving axis that saturates the output current of the drive to the
configured Stopping Torque that brings the motor to a stop.
In torque control mode, the drive directly applies the configured
Stopping Torque to the torque command signal to decelerate the
motor. When the velocity feedback value reaches zero speed, the
torque command is set to zero.
Once stopped, or the configured Stopping Time or factory time limit
expires, the drive disables the power structure and control loops. This
stop mode complies with the IEC-60204-1 Category 1 Stop.
In frequency control mode the operative current limit, rather than the
Stopping Torque attribute, is used to regulate the stopping current.
2 O/FV Ramped Decel Ramped Decel and Disable also leaves the power structure and any
and Disable 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. When initiating a Ramped
Decel and Disable Stop, the Ramp Generator is immediately activated
and the drive no longer follows command from the controller. The
Ramp Generator input is initialized to zero and the output is
initialized to the current speed of the motor, thus causing the Ramp
Generator output to ramp the motor from its current speed down to
zero according to the ramp control parameters. Once stopped, or the
configured Stopping Time or factory timeout limit expires, the device
disables the power structure and control loops. This stop mode also
complies with the IEC-60204-1 Category 1 Stop.
3 O/PV Current Decel Current Decel and Hold behaves like Current Decel and Disable, but
and Hold leaves the power structure active with holding torque to maintain the
stopped condition. The method for generating holding torque is left
to the drive vendor's discretion. This stop mode complies with the
IEC-60204-1 Category 2 Stop.
The Current Decel and Hold stopping action is not allowed if a Start
Inhibit condition is present. If a Start Inhibit condition is present, a
Current Decel and Disable will be initiated instead.
4 O/V Ramped Decel Ramped Decel and Hold behaves like Ramped Decel and Disable, but
and Hold leaves the power structure with holding torque to maintain the
stopped condition. This stop modes also complies with the
IEC-60204-1 Category 2 Stop.
The Ramped Decel and Hold stopping action is not allowed if a Start
Inhibit condition is present. If a Start Inhibit condition is present, a
Ramped Decel and Disable will be initiated instead.
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Enum. Usage Name Description
5-127 Reserved
128-255 Vendor Specific
128 O/D 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.
129 O/D AC Injection AC Injection Brake decreases the device output frequency from its
Brake present value to zero at the rate determined by the configured
Deceleration Limit. Stopping action is accomplished by lowering the
output frequency below the motor rotor speed where regeneration
does not occur and instead mechanical energy is dissipated in the
motor as heat.
Stopping Torque
Usage Access Data Default Min Max Semantics of Values
Type
Required - C Set REAL 100 0 103 % Motor Rated
FD
When disabling or aborting an axis, this value determines the maximum amount
of torque producing current available to stop the motor when the Stopping Action
is set to Current Decel. If this attribute is not supported, the drive device will use
the configured Positive and Negative Peak Current Limits.
Stopping Time Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 1 0 103 Seconds
When disabling or aborting an axis, this parameter determines the maximum
amount of time the drive allows to reach zero speed as part of the Category 1 or
Category 2 Stop sequence. Action taken by the drive once the time limit is reached
depends on the Stop Category. For a Category 1 Stop, the drive continues to apply
Stopping Torque while engaging the brake. For a Category 2 Stop the drive
continues to apply Stopping Torque but does not engage the brake. If Stopping
Time Limit is not supported a factory set timeout may be applied.
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Coasting Time Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Seconds
FD
When disabling or aborting an axis, this parameter determines the maximum
amount of time the drive allows to reach zero speed as part of the Category 0
"Disable and Coast" Stop sequence. Action taken by the drive if the time limit is
reached is to engage the brake and advance to the Stopped state. If this attribute is
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 Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Seconds
(PM Motor)
When an external resistive brake is used, the Resistive Brake Contact Delay can be
set to delay the enabling of the device power structure until after the resistive
brake has had time to connect the motor to the drive device. When an external
resistive brake is used, an external contactor switches the UVW motor leads from
the inverter power structure to an energy dissipating resistor to stop the motor.
Note that this switching does not occur instantaneously and so enabling the power
structure too early can cause electrical arcing across the contactor. To prevent this
condition, the Resistive Brake Contact Delay can be set to the maximum time that
it takes to fully close the contactor across the UVW motor lines so when the axis is
enabled, the inverter power structure is not enabled until after the Resistive Brake
Contact Delay Time has expired. Resistive Brake operation is only applicable to
PM Motor types.
The following sequence further defines how the Resistive Brake Contact Delay
factors into the overall Enable Sequence that may also include the operation of a
Mechanical Brake.
Enable Sequence:
1. Switch to Starting state.
2. Activate Resistive Brake contactor to connect motor to inverter power
structure.
3. Wait for "Resistive Brake Contact Delay" while Resistive Brake contacts
close.
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4. Enable inverter power structure.
5. Activate Mechanical Brake output to release brake.
6. Wait for "Mechanical Brake Release Delay" while brake releases.
7. Transition to Running state.
Mechanical Brake Control
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set USINT 0 - - 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. When
set to Automatic, the Mechanical Brake is under the control of the axis state
machine. The sequencing for the brake is described in detail by the Mechanical
Brake Engage Delay and Mechanical Brake Release Delay attributes. When set to
Brake Release, the brake is unconditionally released, and no longer under the
control of the axis state machine.
Mechanical Brake Release Delay
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Seconds
FD
When enabling the axis, the Mechanical Brake Release Delay value determines the
amount of time the device will delay transition from the Starting state to the
Running or Testing states. This delay prevents any commanded motion of the
motion axis until the external mechanical brake has had enough time to disengage.
If supported, a Torque Proving operation is included in this sequence prior to
releasing the brake.
Enable Sequence:
1. Switch to Starting state.
2. Activate Resistive Brake contactor to connect motor to inverter power
structure.
3. Wait for "Resistive Brake Contact Delay" while Resistive Brake contacts
close.
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4. Enable inverter power structure.
5. Perform (optional) Torque Proving operation to verify motor control of
load.
6. Activate Mechanical Brake output to release brake.
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 Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Seconds
FD
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.
This attribute allows time for an external mechanical brake to engage. The
configured Stopping Action determines the type of stopping sequence applied. If
supported, a Brake Proving operation is included in the Category 1 stopping
sequence prior to disabling the power structure.
Zero Speed
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 1 0 % Motor Rated
FD
This attribute sets the speed threshold associated with the zero speed criteria of
the stop sequence. Zero Speed is specified as a percent of motor rated speed. When
Zero Speed Time attribute is supported, this attribute sets the speed threshold
where the zero speed timer starts. When the axis speed has been below the Zero
Speed threshold for Zero Speed Time the axis has satisfied the zero speed criteria.
In all but Category 2 stops, this results in action to engage the mechanical brake. If
this attribute is not supported, the zero speed threshold is left to the vendor’s
discretion and typically set to 1% of motor rated speed. Axis speed in the above
description is based on the Velocity Feedback signal, or in the case of a Frequency
Control drive, axis speed is based on Velocity Reference signal.
When supporting a Load Observer, the zero speed criteria is not based on the
Velocity Estimate since that signal can differ considerably from the actual speed of
the motor. When the Load Observer is configured to apply the Velocity Estimate
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to the velocity loop summing junction as Velocity Feedback, the zero speed criteria
must be based on the velocity feedback signal input to the Load Observer.
Zero Speed Time
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Sec
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. In all but Category 2 stops, when this
attribute is set it results in action to engage the mechanical brake. If this attribute
is not supported, the amount of time needed to satisfy the zero speed criteria is left
to the vendor’s discretion and typically is immediate (0). Axis speed in the above
description is based on the Velocity Feedback signal, or in the case of a Frequency
Control drive, axis speed is based on Velocity Reference signal.
When supporting a Load Observer, the zero speed criteria is not based on the
Velocity Estimate since that signal can differ considerably from the actual speed of
the motor. When the Load Observer is configured to apply the Velocity Estimate
to the velocity loop summing junction as Velocity Feedback, the zero speed criteria
must be based on the velocity feedback signal input to the Load Observer.
Vertical Load Control
Usage Access Data Default Min Max Semantics of Values
Type
Optional - FPV Set USINT 0 - - Enumeration:
0 = Disabled
1 = Enabled
2 - 255 = Reserved
This enumerated value allows the drive to tailor motor control behavior for
vertical load applications. When the Enabled enumeration is selected, the drive
attempts, whenever possible, to avoid applying Category 0 stop actions in response
to Major Fault conditions. The drive may tailor other aspects of its behavior to
best handle vertical loads.
Proving Configuration
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set USINT 0 - - Enumeration:
FD 0 = Disabled
1 = Enabled
2 - 255 = Reserved
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This attribute enables the operation of the drive's Torque Proving and Brake
Proving functions that work in conjunction with mechanical brake control. When
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.
When enabled, the drive performs a Torque Prove test of the motor current while
in the Starting state to "prove" that current is properly flowing through each of the
motor phases before releasing the brake. Should the Torque Prove test fail, a
Motor Phase Loss exception is generated.
While Torque Proving functionality is applicable to drive Control Modes that are
not capable of generating reliable holding torque based on a feedback device, such
as Frequency Control and Sensorless Velocity Control, Torque Proving should
not be used in these modes for applications where holding torque is critical to safe
operation, such as in a typical lift or crane application.
If the optional Brake Test Torque attribute is supported, the Torque Prove test
also includes a proactive Brake Test to ensure the mechanical brake is functioning
properly. Should the Brake Test detect brake slip, a Brake Slip exception is
generated.
When Proving is enabled, the drive also performs a Brake Prove test while in the
Stopping or Aborting states to "prove" proper mechanical brake function before
the drive power structure is disabled. Should the Brake Prove test detect brake slip
a Brake Slip exception is generated.
Unless another vendor specific method is used to address a Brake Slip condition in
the Stopping or Aborting state, the appropriate Fault Action for the Brake Slip
exception is Torque Limited Stop and Hold. This Fault Action applies holding
torque to arrest the brake slip and transitions the axis to the Major Faulted state.
In general, Brake Proving functionality is only applicable to drive Control Modes
that are capable of generating holding torque based on a feedback device. Brake
Proving is therefore not applicable to Frequency Control or Sensorless Velocity
Control modes.
When Proving is enabled, and the Auto-Sag feature is supported, upon detection
of a brake slip condition, the drive has the capability of safely lowering the load to
the ground in a controlled series of increments. The Auto Sag Configuration
attribute is used to enable this feature. In addition to Brake Slip initiating a Brake
Slip exception, the drive also generates a Brake Malfunction start inhibit when the
Auto Sag feature is enabled.
When Proving, Auto Sag, and Auto Sag Start are all enabled, the drive also
monitors for brake slip in the Stopped or Faulted states. If brake slip is detected,
the drive power structure is automatically started to arrest the slip allowing the
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Auto Sag function to safely lower the load to the ground. Upon detection of brake
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. The following table defines
these attribute dependencies.
Proving Sub-Feature Controlling Attributes Attribute Prerequisites
Torque Prove Torque Prove Current Proving Configuration
Brake Test Brake Test Torque Proving Configuration
Brake Slip Tolerance
Brake Prove Brake Prove Ramp Time Proving Configuration
Brake Slip Tolerance
Auto Sag Auto Sag Configuration Proving Configuration
Auto Sag Slip Increment Brake Prove Ramp Time
Brake Slip Tolerance
Auto Sag Start Auto Sag Start Proving Configuration
Brake Prove Ramp Time
Brake Slip Tolerance
Auto Sag Configuration
Auto Sag Slip Tolerance
Proving tests are performed when enabling or disabling the drive axis. During
these state transitions a series of operations are performed by the drive to ensure
the proper function of the motor (Torque Proving) and the brake (Brake
Proving).
Torque Prove Current
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 % Motor Rated
FD
This attribute sets the percent of motor rated torque applied to the motor by the
Torque Prove test as part of the Torque Proving function executed in the Starting
state. The Torque Prove test applies current to the motor to "prove" that current is
properly flowing through each of the motor phases before releasing the brake.
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Brake Test Torque
Usage Access Data Default Min Max Semantics of Values
Type
Optional - DE Set REAL 0 0 103 % Motor Rated
FD
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.
Should the Brake Test detect brake slip, a Brake Slip exception is generated.
If the Brake Test Torque attribute value is 0 the Brake Test is not performed in
the Starting state.
Brake Prove Ramp Time
Usage Access Data Default Min Max Semantics of Values
Type
Optional - DE Set REAL 0 0 103 Seconds
FD
This attribute determines the amount of time the drive will take to ramp the
applied torque of the motor down to zero during the Brake Proving test in the
Stopping or Aborting state. The Brake Prove Ramp Time determines the ramp
down rate of the applied torque output by dividing the Torque Limit by the Brake
Prove Ramp Time. The Torque Limit in this case is the maximum of the
configured Torque Limit Positive and Torque Limit Negative values. The Brake
Prove test is performed to check for brake slip before the power structure is
disabled.
Brake Slip Tolerance
Usage Access Data Default Min Max Semantics of Values
Type
Optional - DE Set REAL 0 0 Position Units
FD
This attribute determines the amount of brake slip allowed after the brake is
engaged. If this tolerance is exceeded while the brake is engaged, a Brake Slip
exception is generated. Brake slip can therefore be monitored in any axis state
where the brake is engaged.
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DC Injection Brake Current
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 % 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. This attribute is specified as a percent of motor rated speed.
DC Injection Brake Time
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set REAL 0 0 103 Seconds
The DC Injection Brake Time attribute defines the amount of time that the DC
brake current is injected into an induction motor stator when DC Injection Brake
is selected as the Stopping Action. This attribute is specified in seconds.
Flux Braking Enable
Usage Access Data Default Min Max Semantics of Values
Type
Optional - D Set USINT 0 0 1 0 = Flux Braking Disabled
(Induction Motor) 1 = Flux Braking Enabled
The Flux Braking Enable attribute value determines if the drive device is to apply
additional flux current to the induction motor in an effort to increase motor losses
and reduce the deceleration time while in the Stopping state. This feature is useful
when there is no Shunt Regulator or Regenerative Brake available.
Auto Sag Configuration
Usage Access Data Default Min Max Semantics of Values
Type
Optional - DE Set/SSV USINT 0 - - Enumeration:
0 = Disabled
1 = Enabled
2-255 = (reserved)
This attribute is used to enable the optional Auto Sag feature that, in the event of
detected a brake slip condition, safely lowers the load to the floor in a series of
controlled Auto Sag Slip Increments. When a brake slip condition is detected and
Auto Sag is enabled, the drive not only sets the standard Brake Slip exception, but
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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 Min Max Semantics of Values
Type
Optional - DE Set REAL 0 0 Position Units
This attribute sets the incremental amount of brake slip allowed by the drive's
optional Auto Sag function before restoring holding torque. When brake slip
occurs, the drive allows this amount of displacement and then automatically
enables the power structure and applies holding torque to arrest the slip. The drive
then ramps the motor torque to zero based on the Brake Prove Ramp Time while
checking for slip. Should brake slip continue, the cycle repeats. In crane and lift
applications, this repeating "Auto Sag" cycle is designed to lower the load in a
controlled series of Auto Sag Slip Increments until the load reaches the ground.
Auto Sag Slip Time Limit
Usage Access Data Default Min Max Semantics of Values
Type
Optional - DE Set REAL 0.25 0 Seconds
This attribute sets the time limit over which the drive checks for brake slip as
performed by the Auto Sag function before restoring holding torque. When brake
slip occurs, the drive allows this amount of time before automatically enabling the
power structure and applying holding torque. The drive then ramps the motor
torque to zero based on the Brake Prove Ramp Time while checking for slip.
Generally, in a brake slip situation, the Auto Sag Slip Time Limit expires when the
load reaches the ground after one or more Auto Sag Slip Increment cycles. With
no further slip occurring while the motor torque is ramping to zero, the Auto Sag
feature transitions the axis to the Major Faulted state and the drive power
structure is disabled.
The optional Auto Sag Slip Time Limit attribute is not required by the Auto Sag
feature. If not supported, a vendor specific value for the Auto Sag Slip Time is
applied, typically 0.25 seconds.
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Auto Sag Start
Usage Access Data Default Min Max Semantics of Values
Type
Optional - DE Set/SSV USINT 0 - - Enumeration:
0 = Disabled
1 = Enabled
2-255 = (reserved)
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. When this occurs, the
drive power structure is enabled (Started) without holding torque and the axis
transitions to the Aborting State. The drive continues to monitor brake slip and
when the amount of slip exceeds the Auto Sag Slip Increment holding torque is
applied to the motor to arrest the brake slip. The drive then ramps the motor
torque to zero based on the Brake Prove Ramp Time while again checking for slip.
Should brake slip continue and exceed the Auto Sag Slip Increment, holding
torque is applied and the cycle repeats. In crane and lift applications, this repeating
"Auto Sag" cycle is designed to lower the load in a controlled series of Auto Sag
Slip Increments until the load reaches the ground.
See also
Stopping Sequences on page 569
Proving Operation Sequences on page 573
State Behavior on page 68
Motor Attributes on page 64
CIP Axis Attributes on page 259
Stopping Sequences There are three different stopping sequences defined for stopping and braking
related attributes. These three stopping sequences align with the following
IEC-60204-1 Stop Categories:
• Category 0 Stop: Drive immediately disables inverter power structure.
• Category 1 Stop: Drive decelerates motor to a stop and then disables power
structure.
• Category 2 Stop: Drive decelerates motor to a stop and then applies holding
torque.
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All actions initiated by the control or the drive to stop the axis or disable its
associated inverter power structure must execute one of these three stopping
sequences. Category 0 and Category 1 Stop sequences coordinate the disabling of
the drive power structure with brake operation and in some cases, optional Brake
Proving functionality.
The above stopping sequences are listed in order of precedence should a stopping
sequence be initiated while another stopping sequence is in progress. For example,
a Category 0 stopping sequence shall preempt a Category 1 stopping sequence in
progress, but a Category 1 stopping sequence shall not supersede a Category 0
stopping sequence in progress. This rule of precedence holds true regardless of the
source that initiated the stopping sequence.
The following stopping sequences are defined in the context of a Disable Request
generated stop, where the stopping methods are applied in the Stopping state and
the stopping sequences ends up in the Stopped state. In the context of a Major
Fault action, these same stopping methods are applied in the Aborting state and
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. Brake Proving is not applicable.
1. Switch to Stopping state
2. Disable inverter power structure.
3. Deactivate Resistive Brake contactor to disconnect motor from inverter
power structure.
4. Wait for zero speed or "Coasting Time Limit" or a factory set timeout,
whichever occurs first.
5. Transition to Stopped state.
6. Deactivate Mechanical Brake output to engage brake.
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The following diagram illustrates Category 0 Stop Sequence:
Category 1 Stop Sequence
Torque applied to stop the motor before the inverter is disabled. Brake Proving is
applicable.
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. Wait for "Mechanical Brake Engage Delay" while brake engages.
6. Perform (optional) Brake Proving operation to verify brake control of load.
7. Disable inverter power structure.
8. Transition to Stopped state.
9. Deactivate Resistive Brake contactor to disconnect motor from inverter
power structure.
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The following diagram illustrates a Category 1 Stop Sequence:
Category 2 Stop Sequence
Torque is applied to stop the motor and inverter is left enabled to provide holding
torque. The mechanical brake is not used. Brake Proving is not applicable. A
Category 2 Stop is only allowed in no Start Inhibit condition is present.
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. 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. Category 2 stop sequences are also not allowed if
initiated by a Start Inhibit condition with the axis in the Stopped state or Major
Faulted state with Holding torque. In this case, the drive initiates a Category 1
stop sequence instead, using the same stopping method (Current Decel or
Ramped Decel) that would have been applied by the configured Category 2
Stopping Action.
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The following diagram illustrates a Category 2 Stop Sequence:
Tip: Recommended criteria for Zero Speed is based on Velocity Feedback, or in the case of Frequency Control drive, based
on Velocity Reference. Zero Speed criteria can be established explicitly through optional Zero Speed and Zero Speed
Time attributes or implicitly as 1% of motor rated speed or left to the drive vendor’s discretion.
See also
Stopping and Braking Attributes on page 556
Proving Operational Proving tests are performed when enabling or disabling the drive axis. During
these state transitions a series of operations are performed by the drive to ensure
Sequences
the proper function of the motor (Torque Proving) and the brake (Brake
Proving).
The following flow charts define these operational sequences in the context of a
drive enable transition and a drive disable or abort transition.
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Drive Enable Sequence with Proving Tests
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Drive Disable Sequence with Proving Test
See also
Stopping and Braking Attributes on page 556
Stopping Sequences on page 569
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Start Inhibits Attributes These are the Start Inhibit related attributes associated with a Motion Control
Axis Object instance. Start Inhibits are conditions that prevent transition of the
axis from the Stopped State into any of the operational states.
CIP Start Inhibits
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T WORD - - - Enumeration:
0 = Reserved
1 = Axis Enable Input
2 = Motor Not Configured
3 = Feedback Not Configured
4 = Commutation Not Configured
5 = Safe Torque Off Active
6 = Converter Bus Unload
7 - 15 = Reserved
A bit map that specifies the current state of all standard conditions that inhibits
starting of the axis.
CIP Start Inhibits - RA
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D Get/GSV T 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
7 = Safety Not Configured
8 = Stop Command Active
9 = Feedback Device Reset
10 = Brake Malfunction
11 = AC Line Contactor Input
12 - 15 = Reserved
A bit map that specifies the current state of all Rockwell Automation specific
conditions that inhibits starting of the axis.
See also
Standard Start Inhibits on page 576
Rockwell Automation Specific Start Inhibits on page 578
CIP Axis Attributes on page 259
Standard Start Inhibits
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This table defines the list of standard start inhibits associated with the Start
Inhibits attribute.
Bit Inhibit Condition Description
0 -- Reserved -- This bit cannot be used since the Start Inhibit Code is defined by the
associated bit number and Start Inhibit Code of 0 means no fault
condition is present.
1 Axis Enable Input The Enable Input is not active.
2 Motor Not Configured The associated motor has not been configured for use.
3 Feedback Not Configured The associated feedback device has not been configured. The offending
feedback channel is encoded in the associated Fault/Alarm Sub Code.
4 Commutation Not Configured The associated PM motor commutation function has not been configured
for use.
5 Safe Torque Off Active The integrated Safe Torque Off safety function is active based on the Safe
Torque Off Active bit (bit 3) of the Axis Safety Status attribute being set.
6 Converter Bus Unload The Converter Bus Unload bit (bit 3) of the Control Status attribute from
the controller is set, indicating that the converter supplying power to
this drive axis has requested that it not draw power from the DC Bus.
7-15 --Reserved--
This table maps the Standard Start Inhibit bits with their Logix Designer Start
Inhibit tag names. Start Inhibit bit names always end with an Inhibit suffix.
Bit Tag
0 NA
1 AxisEnableInputInhibit
2 MotorNotConfiguredInhibit
3 FeedbackNotConfiguredInhibit
4 CommutationNotConfiguredInhibit
5 SafeTorqueOffActiveInhibit
6 ConverterBusUnload
See also
Start Inhibit Attributes on page 576
Rockwell Automation Specific Start Inhibits on page 578
Axis Safety Status Attributes on page 537
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Rockwell Automation Specific The following table defines a list of standard start inhibits associated with
Start Inhibits the Start Inhibits attribute.
Bit Inhibit Condition Description
0 -- Reserved -- This bit cannot be used because the Start Inhibit Code is defined by the associated
bit number and Start Inhibit Code of 0 means no fault condition is present.
1 Volts Hertz Curve Conflict exists in the V/Hz curve definition.
Definition
2 Motor Feedback Cannot run using the selected motor control mode with Primary Feedback or
Required Alternate Feedback set as open loop.
3 Speed Limit Speed Ref Limit Conflict, either Minimum Forward Speed Limit exceeds Maximum
Configuration Forward Speed Limit, or Minimum Reverse Speed Limit exceeds Maximum Reverse
Speed Limit.
4 Torque Prove When Torque Prove Configuration is enabled, Control Mode, Feedback Mode,
Configuration Motor Feedback Type and Motor Option Configuration must be properly set.
5 Safe Torque Off The safety function has disabled the power structure.
6 Safety Reset Required The safety reset input needs to be toggled before the safety board will allow
motion again.
7 Safety Not Configured The embedded safety function of the drive has not been configured.
8 Stop Command Active There is an active Stop Command present. For example, the Stop button on the
drive is behind held active. This inhibit condition prevents the drive from starting
when the Stop Command is active.
9 Feedback Device The feedback device is being reset. A feedback device reset process is typically
Reset performed after a Feedback Loss condition. This inhibit condition prevents the
drive from Starting until the feedback reset process is completed.
10 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.
11 AC Line Contactor This start inhibit is set when the state of the AC Line Contactor OK digital input
Input differs from the state of Contactor Enable Digital Output. When this start inhibit is
set it generally indicates that AC Line Contactor is not working correctly and is not
capable of charging the dc bus. This start inhibit is checked only when the AC Line
Contactor OK digital inputs is available and AC Line Contactor Input Checking is
Enabled.
12-15 --Reserved--
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This table maps the Start Inhibit bits with their Logix Designer Start Inhibit tag
names. Start Inhibit bit names always end with an Inhibit suffix.
Bit Tag
0 NA
1 VoltsHertzCurveDefinitionInhibit
2 MotorFeedbackRequiredInhibit
3 SpeedLimitConfigurationInhibit
4 TorqueProveConfigurationInhibit
5 SafeTorqueOffInhibit
6 SafetyResetRequiredInhibit
7 SafetyNotConfiguredInhibit
8 StopCommandActiveInhibit
9 FeedbackDeviceResetInhibit
10 BrakeMalfunctionInhibit
11 ACLineContactorInputInhibit
See also
Start Inhibit Attributes on page 576
Standard Start Inhibits on page 576
CIP Axis Attributes on page 259
DC Bus Condition Attributes These are Motion Control Axis attributes associated with the DC Bus including
functionality to address both under-voltage and over-voltage conditions.
DC Bus Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Required - BD Get T REAL - - - Volts
Measured DC Bus Voltage. For inverters and DC Converter Types, the DC Bus
measured is an input to the device. For all other Converter Types, the DC Bus
measured is an output of the device.
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DC Bus Voltage - Nominal
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get T REAL - - - Volts
Normal DC Bus Voltage during operation as determined by averaging the DC Bus
Voltage over a device specific time interval. This value is used as the basis for Bus
Overvoltage and Undervoltage limits.
Tip: If the device does not support this bus voltage averaging concept, hard code this value.
For inverters and DC Converter Types, the DC Bus measured is an input to the
device. For all other Converter Types, the DC Bus measured is an output of the
device.
Bus Regulator Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get T REAL - - - % of Nominal Bus Voltage
The Bus Regulator Reference attribute returns the current turn on voltage
threshold for the bus regulator.
Bus Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T USINT - - - Enumeration:
0 = Standalone
1 = Shared AC/DC
2 = Shared DC
The Bus Configuration attribute is an enumerated selection that specifies how the
DC Bus is used.
Standalone. Specifies that DC Bus power supplied by the converter section of the
drive is applied only to the drive power structure.
Shared AC/DC. Specifies that the converter associated with this CIP Motion
device is to supply and share DC Bus power with other drives. This would
typically result in de-rating of the converter’s continuous current rating when
there are multiple converter devices paralleled in a bus sharing group. Shared DC
specifies that this drive is sharing DC bus power generated by another Shared
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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. A drive
configured for Shared DC - Non CIP Converter is responsible for communicating
the status of the external converter to the control system as if the external
converter were integrated with the drive. Specifically, this communication
includes the DC Bus Up and DC Bus Unload status bits reflecting the current
state of associated external converter.
Shared DC/DC specifies that the converter associated with this CIP Motion
device supplies and shares DC bus power with other Shared DC devices. DC/DC
converters may convert input DC bus power from a Shared AC/DC converter to
a different DC Bus output voltage level to supply one or more Shared DC drives.
It may also simply distribute DC bus power from a Shared AC/DC converter to
multiple Shared DC drives without any conversion. A Shared DC/DC converter
has a unique capability in that it can be both a bus master for a bus group and a bus
slave in a different bus group.
Bus Voltage Select
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T USINT - - - Enumeration:
0 = High (115V, 230V, 460V)
1 = Low (100V, 200V, 400V)
2-255 (reserved)
The Bus Voltage Select value indicates the expected bus voltage level of the drive
application. High bus voltage selection is usually associated with drive running on
the North American power grid, while operating in Europe a Low Bus Voltage
selection would be appropriate. This parameter can be used to compensate for
these different bus voltage levels in the current loop.
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Bus Regulator Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set T USINT - - - Enumeration:
0 = Disabled (O)
1 = Shunt Regulator (O)
2-127 (reserved)
128-255 (vendor specific)
128 = Adj. Frequency (O/IM)
129 = Both - Shunt first (O/IM)
130 = Both - Freq first (O/IM)
131 = Bus Follower (O)
The Bus Regulator Action attribute controls the method of operation of the DC
Bus Regulator that addresses the regenerative over-voltage conditions that occurs
when decelerating a motor. If Disabled, no regulation is applied to the DC Bus
level by this device to control regenerative energy sourced by the motor. When
Shunt Regulator is selected the associated shunt regulation hardware is applied to
the DC Bus to dissipate. regenerative energy via an internal or external resistor.
When controlling Induction Motors, additional bus regulation methods are
available that don’t require a shunt regulator. When Adjust Frequency is selected,
the output frequency of the device is controlled relative to the speed of the motor
to control the amount of regenerative energy pumped into the DC Bus. Different
sequential application of shunt regulation and frequency control canbe applied to
motor.
When Bus Follower is selected, the DC Bus is generated by an external converter
rather than an integral converter. No bus regulation is applied to the DC Bus level
and the drive does not generate an exception if the DC Bus is still active when the
DC Bus contactor of the integrated converter is open. In this context, the integral
converter is not connected to AC power.
Bus Regulator Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set USINT - - - Enumeration:
0 = Disabled (O)
1 = Shunt Regulator (O)
2-127 = (reserved)
128-255 = (vendor specific)
128 = Adj. Frequency (O/IM)
129 = Both - Shunt first (O/IM)
130 = Both - Freq first (O/IM)
131 = Bus Follower (O)
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The Bus Regulator Action attribute controls the method of operation of the DC
Bus Regulator that addresses the regenerative over-voltage conditions that can
occur when decelerating a motor. If Disabled, no regulation is applied to the DC
Bus level by this device to control regenerative energy sourced by the motor. When
Shunt Regulator is selected the associated shunt regulation hardware is applied to
the DC Bus to dissipate regenerative energy via an internal or external resistor.
When controlling Induction Motors, additional bus regulation methods are
available that do not require a shunt regulator. When Adjust Frequency is selected,
the output frequency of the device is controlled relative to the speed of the motor
to control the amount of regenerative energy pumped into the DC Bus. Different
sequential application of shunt regulation and frequency control can be applied to
motor. When Bus Follower is selected, the DC Bus is generated by an external
converter rather than an integral converter. No bus regulation is applied to the
DC Bus level and the drive does not generate an exception if the DC Bus is still
active when the DC Bus contactor of the integrated converter is open. In this
context, the integral converter is not connected to AC power.
Regenerative Power Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - D Set REAL - - - % Motor Rated
The Regenerative Power Limit attribute limits the amount of power allowed to
transfer between the motor and the DC Bus during regenerative braking of the
motor load. Since this is regenerative power, the value of the limit is negative.
Converter Regenerative Power Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - B Set/SSV REAL - - - % Converter Rated
The Converter Regenerative Power Limit attribute limits the amount of
regenerative power allowed to transfer from the DC Bus to the converter. Since
this is regenerative power, the value of the limit is negative. Converter Rated is
defined as the Converter Rated Input Power attribute value.
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Converter Motoring Power Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - B Set REAL - - % Converter Rated
The Converter Motoring Power Limit attribute limits the amount of motoring
power allowed to transfer from the AC Line to the motor via the DC Bus.
Converter Rated is defined as the Converter Rated Input Power attribute value.
Shunt Regulator Resistor Type
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set USINT - - - Enumeration:
0 = Internal
1 = External
2-255 = (reserved)
The Shunt Regulator Resistor Type defines using either the Internal or External
Shunt resisto.
External Shunt Regulator ID
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set INT - - - -1 = None
0 = Custom
1-32767 = Shunt Regulator ID
The External Shunt Regulator ID is the 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 T Data Default Min Max Semantics of Values
Type
Optional - BD Set REAL - - - Kilowatts
Use the External Shunt Power attribute after configuring the external shunt
resistor. The External Shunt Power attribute value specifies the power rating of
the external shunt resistor, in Kilowatts.
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External Shunt Pulse Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set REAL - - - Kilowatts
Use the External Shunt Pulse Power attribute after configuring the external shunt
resistor. The attribute value specifies the power for delivering to the external shunt
resistor for one second, without exceeding the rated element temperature. There
are approximations to help determine this attribute if this information is not
available
from your vendor. Shunt Pulse Power (Kilowatts) = 75,000 * lbs, where lbs is the
weight of the resistor wire element.
Tip: Shunt Pulse Power is not the weight of the resistor.
Another is that the thermal time constant = Shunt Pulse Power (Kilowatts) /
'Shunt Power’ (Kilowatts) sometimes referred to as thermal mass.- the time for the
resistor element to reach 63% of rated temperature with applied rated Kilowatts.
A third method for determining this value: The pulse Kilowatts for 1 second is
twice the watt rating of a 2 second pulse. In other words, the watt*sec rating is a
constant if the pulse duration is short compared to the thermal time constant of
the resistor and is a function of the element mass.
External Bus Capacitance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set REAL - - - F
The External Bus Capacitance attribute represents the external DC Bus
capacitance when the associated converter or drive:
• Acts as a Bus Master
• Supplies DC Bus power to one or more Common Bus Followers.
The External Bus Capacitance attribute also is applicable with standalone drives
that allow connection to an external capacitor. This attribute is not applicable
when the Bus Regulator Action is set to Bus Follower.
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External Shunt Resistance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set REAL 200 0 Ohms
DB
The External Shunt Resistance attribute represents the resistance of the External
Shunt Regulator resistor.
Power Loss Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set USINT 0 (N) - - Enumeration
1 (D) 0 = Continue (Ignore) (R)
3 (G) 1 = Coast Thru (R/D)
2 = Decel Regen (O/D)
3 = Ride Thru (R/G)
4-127 = Reserved
128-255 = Vendor Specific
The Power Loss Action attribute sets the reaction to a DC Bus under-voltage
condition when the DC Bus voltage or AC Line RMS voltage drops below a
hard-coded threshold in the device or the configured Power Loss Threshold. This
provides a specific (configured) response to an incoming power loss while the
drive/motor is running.
A Continue action selection configures the drive to ignore the power loss
condition and continue to run for as long as possible. A Bus Undervoltage
exception may occur if the DC Bus Voltage falls below the Factory or User Limits.
Otherwise, operation will continue until the low voltage power supplies drop out.
There may be concerns operating the power structure below the point where the
gate drives start to lose power potentially resulting in damage to the device. The
Bus Undervoltage Exception Actions will be set accordingly.
A Coast Thru action selection configures the drive to zero the PWM output of
the drive while leaving the axis in the Running state. For a drive, this effectively
disable power flow to the motor through the devices power structure. If the
incoming power returns before the timeout period, given by the Power Loss Time,
the drive automatically starts to control the motor again. If, however, the power
doesn't 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. When incoming power is restored the drive
returns to normal operation. If, however, the drive reaches zero speed or the Power
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Loss Time period expires before the incoming power has restored, the drive power
structure is disabled and a Bus Power Loss exception is generated.
A Ride Thru action selection configures the device to zero the PWM output of
the device while leaving the axis in the Running state. For a regenerative converter,
this disables regenerative power flow through the devices power structure to the
AC line. If the incoming power returns before the timeout period, given by the
Power Loss Time, the device automatically restarts PWM modulation. If,
however, the power does not return before Power Loss Timeout period expires, a
Converter AC Power Loss exception is generated.
Power Loss Threshold
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set REAL 0 0 103 % of nominal
Sets the Level for Power Loss as percent of nominal DC Bus Voltage or nominal
AC Line Voltage.
Shutdown Action
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set USINT 0 (D) - - Enumeration
1 (B) 0 = Disable (R/D)(O/G)
1 = Drop DC Bus (R/B) (O/D)
2-127 = Reserved
128-255 = Vendor Specific
Shutdown Action selects the action for the device when a Shutdown Request
initiates.
Disable, the default action for a drive, immediately disables the device's power
structure according to the Category 0 Stop Sequence. For a regenerative converter,
this action immediately disables the converter’s power structure to stop
regenerative power flow.
If Drop DC Bus is selected, action can be taken to drop the DC Bus voltage as
well. This is generally done by opening an AC Contactor Enable output provided
by the device that controls power to the converter.
The Shutdown Action executes the Category 0 Stop Sequence for a drive.
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Power Loss Time
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Set REAL 0 0 Seconds
When the Power Loss Action is set to Coast Thru, Ride Thru, or Decel Regen,
this attribute sets the timeout value before a Bus Power Loss exception is
generated by the drive, or a Converter AC Power Loss exception is generated by
the converter, in response to a Power Loss condition. For details, see the Power
Loss Action attribute table earlier in this topic.
See also
Motion Planner Configuration Attributes on page 490
State Behavior on page 68
Converter AC Line Input The following attribute tables contain attributes related to the AC Line input to a
Converter.
Attributes
Converter AC Line Monitoring These are the converter AC line monitoring attributes associated with the AC
Line input to a Converter.
Attributes
AC Line Frequency
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get T REAL - - - Hertz
The AC Line Frequency attribute represents the measured AC line frequency.
AC Line Current
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get T REAL - - - Amps (RMS)
The AC Line Current attribute represents the average RMS AC line current for
all three phases as measured over an AC cycle.
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AC Line Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get T REAL - - - Volts (RMS)
The AC Line Voltage attribute represents the average RMS AC line-to-line
voltage for all three phases as measured over an AC cycle.
AC Line Voltage - Nominal
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Volts (RMS)
The AC Line Voltage - Nominal attribute represents the filtered average RMS AC
line-to-line voltage based on a time constant. The low pass filter time constant is
factory set or configurable using the optional AC Line Voltage Filter Time
Constant.
AC Line Voltage Time Constant
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set REAL 360 0 Seconds
The AC Line Voltage Time Constant attribute sets the low pass filter time
constant applied to the AC Line Voltage to determine the AC Line Voltage
Nominal attribute value.
AC Line Active Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Kilowatts
The AC Line Active Power attribute represents the measured active AC Line
power. A positive value indicates motoring power and a negative value indicates
regenerative power. See diagram below.
AC Line Reactive Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - kVAR
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The AC Line Reactive Power attribute represents the measured reactive AC Line
power. A positive value indicates lagging power is consumed by the converter and
negative value indicates leading power is produced by the converter. See diagram
below.
AC Line Apparent Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - kVA
The AC Line Apparent Power attribute represents the measured apparent AC
Line power representing the magnitude of the vector sum of active and reactive
power. This value is strictly positive.
The following diagram illustrates the definition for Leading and Lagging Power
Factor, Active Power, and Reactive Power for Regenerative Converters.
Apparent Power, Sc, is the vector sum of active and reactive power and is always a
positive value. It is specified in Volt-Amperes. Active power, Pc, is the real or
active component of apparent power delivered to the load and can be positive
(motoring) or negative (regenerating). Reactive power, Qc, is the imaginary or
reactive component of apparent power delivered to the AC line. A positive
value of reactive power indicates that reactive power is absorbed (lagging reactive
power) from the line by the converter. A negative value of reactive power indicates
that reactive power is delivered (leading reactive) to the AC line from the
converter.
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AC Line Power Factor
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - -
The AC Line Power Factor attribute represents the measured input power factor
defined as the ratio of active power over apparent power. The value ranges from -1
to +1. A positive value indicates motoring power and a negative value indicates
regenerative power.
AC Line 1 Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Amps (RMS)
The AC Line 1 Current attribute represents the AC Line current in phase L1 on
the converter-side of the AC Line Filter measured over an AC cycle.
AC Line 2 Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Amps (RMS)
The AC Line 2 Current attribute represents the AC Line current in phase L2 on
the converter-side of the AC Line Filter measured over an AC cycle.
AC Line 3 Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Amps (RMS)
The AC Line 3 Current attribute represents the AC Line current in phase L3 on
the converter-side of the AC Line Filter measured over an AC cycle.
AC Line Current Unbalance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - % Rated (RMS)
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The AC Line Current Unbalance attribute represents the estimated AC Line
current unbalance, which is the ratio of negative sequence current
(counter-clockwise) to positive sequence current (clockwise). When AC Line is in
perfect balance and properly phased, negative sequence current is zero and positive
sequence current is the full magnitude of the AC line current vector in RMS units.
The AC Line Current Unbalance value can be approximated by the following
equation:
Where:
I avg = (I L1 +I L2 +I L3 )/3
I L#(max) = Max(I L1 ,I L2 ,I L3 )
AC Line Ground Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Amps
The AC Line Ground Current attribute represents the ground current typically
measured as the instantaneous sum of the AC Line currents for all three phases.
AC Line 1 Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Volts (RMS)
The AC Line 1 Voltage attribute represents the AC Line-to-Line voltage between
phase L1 and L2 on the grid-side of the AC Line Filter.
AC Line 2 Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Volts (RMS)
The AC Line 2 Voltage attribute represents the AC Line-to-Line voltage between
phase L2 and L3 on the grid-side of the AC Line Filter.
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AC Line 3 Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Volts (RMS)
The AC Line 3 Voltage attribute represents the AC Line-to-Line voltage between
phase L3 and L1 on the grid-side of the AC Line Filter.
AC Line Voltage Unbalance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - % of Volts (RMS)
The AC Line Voltage Unbalance attribute represents the estimated AC Line
voltage unbalance. Voltage unbalance is defined as the ratio of negative sequence
voltage (counter-clockwise) to positive sequence voltage (clockwise). When AC
Line is in perfect balance and properly phased, negative sequence voltage is zero
and positive sequence voltage is the full magnitude of the AC line voltage vector
(line to line) in RMS units. The AC Line Voltage Unbalance value can be
approximated by the following equation:
Where:
V LL ( avg) = (V L1 +V L2 +V L3 )/3
V LL(max) = Max(V L1 ,V L2 ,V L3 )
AC Line Sync Error
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - Degrees
The AC Line Sync Error attribute represents the phase error associated with the
AC line synchronization function of the regenerative converter.
AC Line Filter Derating
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get REAL - - - % Converter Rated
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The AC Line Filter Derating attribute indicates the percent derating applied to
the converter power when the AC Line Filter is operating above its rated thermal
capacity and the converter’s Bus Voltage Reference Source is set to Manual.
Derating shall not be applied when Bus Voltage Reference Source is set to
Automatic. When applied in an AC Line filter overload condition, the AC Line
Filter Derating value directly impacts attribute values for Reactive Power
Available, Converter Rated Output Power, Converter Rated Input Power, and
Converter Capacity.
The AC Line Filter Derating value is calculated based on the time averaged voltage
difference between the DC Bus Voltage and the optimal Bus Voltage Reference
determined by the Converter based on AC line input voltage and the thermal
limits of the AC Line Filter. For example, a value of 70% indicates that the
converter can only run at 70% rated continuous power when the AC line filter has
reached its rated thermal capacity. If converter power exceeds the 70% derating,
the converter’s thermal overload protection function is activated leading to the
configured Converter Overload Action or a Converter Thermal Overload FL or
UL exception.
Converter Rated is defined as the Converter Rated Input Power attribute value.
See also
Converter AC Line Configuration Attributes on page 594
Converter AC Line Configuration These are the regenerative converter AC Line configuration attributes associated
with the AC Line input to a converter.
Attributes
Converter AC Input Frequency
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV USINT 1 - - Enumeration:
0 = 50 Hz
1 = 60 Hz
2-255 = Reserved
The Converter AC Input Frequency attribute determines the nominal frequency
of the AC Line connected to the converter.
Converter AC Input Phasing
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV USINT 0 - - Enumeration:
0 = Three-Phase (R)
1 = Single-Phase (O)
2-255 = Reserved
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The Converter AC Input Phasing attribute determines whether the Converter
input power to AC line is Single-Phase or Three-Phase.
Converter AC Input Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV UINT 480 0 maxint Volts (RMS)
The Converter AC Input Voltage attribute configures the converter for the
intended AC line voltage during normal operation.
AC Line Voltage Unbalance Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 3 0 100 % of Nominal
The AC Line Voltage Unbalance Limit attribute sets the maximum allowed
voltage unbalance between the AC line phases. Exceeding this limit results in a
Converter AC Unbalance exception. Nominal voltage is defined by the AC Line
Voltage Nominal attribute.
AC Line Current Unbalance Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 3 0 100 % of Rated
The AC Line Current Unbalance Limit attribute sets the maximum allowed
current unbalance between the AC line phases. Exceeding this limit results in a
Converter AC Unbalance exception. Rated current is defined by the Converter
Rated Input Current attribute.
AC Line Sync Error Tolerance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 10 0 90 Degrees
The AC Line Sync Error Tolerance attribute sets the maximum allowed phase
error associated with the AC line synchronization function of the regenerative
converter. Exceeding this limit results in an AC Line Sync Loss exception.
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See also
Converter Bus Voltage Control Signal Attributes on page 607
Converter Current Reference Signal Attributes on page 612
AC Line Condition Attributes on page 597
Converter AC Line Source These are the converter AC Line source configuration attributes associated with
the AC Line input to a Converter.
Configuration Attributes
AC Line Source Select
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV USINT 0 - - Enumeration:
0 = AC Line A
1 = AC Line B (Alternate)
2-255 = Reserved
The AC Line Source Select attribute determines which AC Line source is active
for the converter and applies the configured impedance and power rating of that
source to the converter's control structure.
AC Line Source Impedance
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 5 0 100 % Rated Impedance
The AC Line Source Impedance attribute determines the impedance of the AC
line source as a percent of the transformer or generator impedance rating.
AC Line Source Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 2500 0 kVA
10*Converter
Rated Power
The AC Line Source Power attribute sets the power rating of the transformer or
generator feeding power to the converter as a percentage of the converter's power
rating.
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AC Line Source Impedance - Alternate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 5 0 100 % Rated Impedance
The AC Line Source Impedance - Alternate attribute determines the impedance
of the alternate AC line source as a percent of the transformer or generator
impedance rating.
AC Line Source Power - Alternate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 kVA
10*Converter
Rated Power
The AC Line Source Power - Alternate attribute selects the power rating of the
alternate transformer or generator feeding power to the converter as a percentage
of the converter's power rating.
See also
Converter AC Line Monitoring Attributes on page 588
AC Line Condition Attributes These are the Motion Control Axis attributes pertaining to various conditions of
the AC Line input primarily for a Regenerative Converter.
AC Line Voltage Sag Action
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set USINT 1 - - Enumeration:
0 = Continue (O)
1 = Ride Thru (R)
2-127 = Reserved
128-255 = Vendor Specific
The AC Line Voltage Sag Action attribute sets the reaction to a Voltage Sag
condition when any one of the AC Line phase voltages drops below a hard-coded
threshold in the device or the configured AC Line Voltage Sag Threshold. This
provides a specific (configured) response to an incoming AC Line Voltage Sag
condition while the device is running.
See Power Loss Action for semantics of these enumerated actions.
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AC Line Voltage Sag Threshold
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set REAL 50 0 103 % of Nominal
The AC Line Voltage Sag Threshold attribute sets the level for AC Line Voltage
Sag as percent of nominal AC Line Voltage. Nominal voltage is defined by the AC
Line Voltage Nominal attribute. Measured AC Line Voltage values less than this
threshold indicate an AC Line Voltage Sag condition.
AC Line Voltage Sag Time
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set REAL 1 0 Seconds
When the AC Line Voltage Sag Action is set to Ride Thru, this attribute sets the
timeout value before an AC Line Voltage Sag exception is generated by the device
in response to a Voltage Sag condition. A value of 0 in this case results in an
immediate exception.
Converter Input Phase Loss Action
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set USINT 1 - - Enumeration:
0 = Continue (O)
1 = Ride Thru (R)
2-127 = Reserved
128-255 = Vendor Specific
The Converter Input Phase Loss Action attribute sets the reaction to an AC input
phase loss condition. This provides a specific (configured) response to an
incoming phase loss while the converter is running.
See Power Loss Action for semantics of these enumerated actions.
Converter Input Phase Loss Time
Usage Access Data Type Default Min Max Semantics of Values
Optional - G Set REAL 1 0 Seconds
When the Converter Input Phase Loss Action is set to Ride Thru, this attribute
sets the timeout value before a Converter AC Phase Loss Exception is generated
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by the device in response to the Converter Input Phase Loss condition. A value of
0 in this case results in an immediate exception.
AC Line Frequency Change Action
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set USINT 1 - - Enumeration:
0 = Continue (O)
1 = Ride Thru (R)
2-127 = Reserved
128-255 = Vendor Specific
The AC Line Frequency Change Action attribute sets the converter’s reaction
when the rate of change of the AC line frequency exceeds a hard-coded threshold
or the configured Frequency Change Threshold.
See Power Loss Action for details of these enumerated actions.
AC Line Frequency Change Threshold
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set REAL 100 0 103 Hertz/Seconds
The AC Line Frequency Change Threshold attribute sets the level of AC line
frequency change that results in the AC Line Frequency Change condition.
AC Line Frequency Change Time
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set REAL 1 0 Seconds
When the AC Line Frequency Change Action is set to Ride Thru, this attribute
sets the timeout value before an AC Line Frequency Change exception is
generated by the converter in response to an AC Line Frequency Change
condition. A value of 0 in this case results in an immediate exception.
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AC Line Sync Loss Action
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set USINT 1 - - Enumeration:
0 = Continue (O)
1 = Ride Thru (R)
2-127 = Reserved
128-255 = Vendor Specific
The AC Line Sync Loss Action attribute sets the reaction to a loss of AC line
synchronization by the converter’s line synchronization function (for example,
PLL). This provides a specific (configured) response to an incoming line
synchronization loss condition while the converter is running.
See Power Loss Action for details of these enumerated actions.
AC Line Sync Loss Time
Usage Access Data Default Min Max Semantics of Values
Type
Optional - G Set REAL 1 0 Seconds
When the AC Line Sync Loss Action is set to Ride Thru, this attribute sets the
timeout value before an AC Line Sync exception is generated by the converter in
response to an AC Line Sync Loss condition. A value of 0 in this case results in an
immediate exception.
See also
DC Bus Condition Attributes on page 579
Converter Control These are the Motion Device Axis Object attributes related to the Converter
function of a CIP Motion device.
Attributes
Converter Types The Converter function of a CIP Motion device covers a wide range of power
conversion technologies from simple non-regenerative AC/DC converters,
typically known as diode rectifiers, to sophisticated regenerative AC/DC
converters that provide closed loop control of DC bus voltage as well as active and
reactive current flow back to the grid. This also includes support for DC/DC
power converters.
The following attribute table is used to identify the type of Converter function.
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Converter Type
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV USINT - - - Enumeration:
0 = Passive AC/DC
1 = Active AC/DC
2 = DC/DC
3-127 = Reserved
128-255 = Vendor Specific
The term Converter applies to any device function that converts AC or DC input
power to DC Bus output power that may be used by Inverter power structures to
drive motors.
Passive AC/DC represents the class of devices that convert AC input power to
DC output power using passive electronics. A diode bridge rectifier is an example
of a Passive AC/DC converter. They do not have the capability to transfer energy
back to the AC main supply.
Active AC/DC represents the class of devices that transfer power between AC
and DC sources using active electronics. For example, Active AC/DC converters
include both regenerative converters that regulate bi-directional power transfer
between AC and DC sources and low harmonic converters that regulate power
flow from the AC source to the DC bus.
DC/DC represents the class of devices that convert power between a primary DC
input source and one or more secondary DC buses using active electronics, or
simply distribute primary DC input power to secondary DC buses. DC/DC
converters with active electronics are capable of transferring energy between a
primary DC input source and one or more secondary DC buses, each with
different voltage levels.
See also
Converter Control Mode Attributes on page 601
Converter Control Mode The attribute table contains attributes that govern the overall control behavior of
a converter in the Motion Control Axis.
Attributes
Converter Configuration
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Set USINT AOP* - - Enumeration
0 = Bus Voltage Control
1 = Active Current Control (O)
2-255 = Reserved
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* The default value can specified by the specific drive profile (AOP).
The Converter Configuration attribute determines the general control behavior of
the regenerative or low harmonic AC/DC converter axis instance. This attribute
is used by the controller to set the Converter Control Mode attribute that is sent
to the drive during initial configuration. When the Converter Configuration is
configured in Logix Designer application, the Converter Control Mode is also
updated.
This table provides descriptions of the Converter Configuration enumerations.
Enumeration Required/ Name Description
Optional
0 R/G Bus Voltage Control The Bus Voltage Control provides closed loop control of DC
bus voltage, and includes closed loop control of Active and
Reactive components of AC line current. This value is
applied by the controller to the Converter Control Mode
attribute and sent to the drive.
1 O/G Active Current Control The Active Current Control provides closed loop control of
Active and Reactive components of AC line current. This
value is applied by the controller to the Converter Control
Mode attribute and sent to the drive.
2-255 Reserved -
When modified programmatically, via SSV, the Converter Control Mode value
cannot be set to an enumeration that the current Converter Configuration cannot
support. For example, if the Converter Configuration is set for Active Current
Control, the Converter Control Mode cannot be changed to Bus Voltage Control
since bus voltage loop attributes have not been configured. Refer to the following
table for a list of valid Converter Control Modes for a Converter Configuration:
Converter Configuration Valid Converter Control Modes
Bus Voltage Control Bus Voltage Control
Active Current Control
Active Current Control Active Current Control
Converter Control Mode
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get USINT 0 - - Enumeration
Derived from 0 = Bus Voltage Control
Converter 1 = Active Current Control (O)
Configuration 2-255 = Reserved
The Converter Control Mode attribute determines the basic mode of operation
for the regenerative converter.
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When Bus Voltage Control is selected, the converter controls the DC bus voltage
output of the converter. The output of the DC bus control loop drives an inner
Active AC Line current control loop to maintain the commanded DC bus voltage
level established by the Bus Voltage Set Point.
When Active Current Control is selected, the converter disables DC bus voltage
regulation and directly controls the Active AC Line current component based on
the Active Current Command. During initial configuration, the controller derives
this value from the the Converter Configuration attribute value.
Reactive Power Control
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set BOOL 0 - - Enumeration
0 = Disabled
1 = Enabled
2-255 = Reserved
When Reactive Power Control attribute is enabled, the regenerative converter
works solely as a reactive power compensation device by injecting reactive power
to the grid. This is typically done to improve the power factor on the plant floor or
to stabilize AC line voltage. In this mode, the converter does not transfer active
power to associated drives on the DC Bus. Instead all of the converter’s rating
capacity is dedicated to reactive power correction to the grid. When enabled, the
Reactive Power Control function is effective regardless of the configured
Converter Control Mode.
Converter Startup Method
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set USINT 0 - - Enumeration
0 = Enable Request
1 = Enable Input (O)
2 = Automatic (O)
3-255 = Reserved
The Converter Startup Method attribute specifies the method to use to initiate
transition of the regenerative converter axis from the Stopped state to the Starting
state.
If Enable Request is selected, assuming a successful Pre-charge and transition to
the Stopped state, the converter stays in the Stopped state until it receives an
Enable Request from the controller. After the converter receives Enable Request,
it transitions to Starting state and checks for proper AC line synchronization.
Once ready for regenerative control, the converter transitions to the Running state
with all configured control loops operational.
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If Enable Input is selected, assuming a successful Pre-charge and transition to the
Stopped state, the converter checks the status of the Enable Input. If the Enable
Input is active, the converter axis transitions from the Stopped state to the
Starting state and checks for proper AC line synchronization. Once ready for
regenerative control, the converter then transitions to the Running state with all
configured control loops operational. If the Enable Input is not active, then the
converter axis transitions from the Stopped state to Start Inhibited state. The
converter axis remains in the Start Inhibited state until such time as the Enable
Input is activated. Once activated, the axis state transitions from Start Inhibited to
the Stopped state and then, without receiving any Enable Request from the
controller, automatically transitions to the Starting state. Once ready for
regenerative control, the converter then transitions to the Running state with all
configured control loops operational. If the Enable Input is either not supported
by the converter or the Enable Input Checking attribute is set to Disabled, the
Enable Input is effectively inactive and the converter axis remains in the Start
Inhibited state indefinitely. While waiting for Enable Input activation in the Start
Inhibited state, the converter can optionally set the DC Bus Unload bit in Axis
Status that is sent to the controller. Setting the DC Bus Unload bit causes the
controller to set the Converter Bus Unload bit that is sent to all drives that can
draw power from the converter’s DC bus. In this way, the converter can prevent
DC bus power draw while the converter axis is in the Start Inhibited state.
If Automatic is selected, assuming a successful Pre-charge and transition to the
Stopped state, the converter automatically transitions to Starting state and checks
for proper AC line synchronization. Once ready for regenerative control, the
converter transitions to the Running state with all configured control loops
operational.
See also
Drive General Purpose I/O Attributes on page 334
CIP Axis Status Attributes on page 315
State Behavior on page 68
Converter Bus Voltage These are the bus voltage control configuration attributes associated with a
regenerative converter.
Control Configuration
Attributes Bus Voltage Set Point
Usage Access T Data Type Default Min Max Semantics of
Values
Required - G Set/SSV T REAL 1000 0 Volts
Optional - N Eq 27
Voltage Control
only - G
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The Bus Voltage Set Point attribute sets the reference voltage used to actively
regulate the DC Bus Voltage of the converter when in the Running state and the
Bus Voltage Reference Source is set to Manual.
Bus Voltage Reference Source
Usage Access T Data Type Default Min Max Semantics of
Values
Optional - G Set/SSV USINT 0 - - Enumeration
Voltage Control 0 = Automatic
only 1 = Manual
2-255 = Reserved
The Bus Voltage Reference Source attribute selects between Automatic and
Manual source for the Bus Voltage Reference. Automatic (default) allows the
converter to optimize the Bus Voltage Reference for best converter performance.
When Manual, the converter uses the user configured Bus Voltage Set Point value
for the Bus Voltage Reference signal.
Bus Voltage Loop Bandwidth
Usage Access T Data Type Default Min Max Semantics of
Values
Required - G Set/SSV REAL 0 0 Loop Bandwidth
Voltage Control Eq 24 Units
only
The Bus Voltage Loop Bandwidth attribute value determines the proportional
gain, Kbp, of the bus voltage loop that multiplies the Bus Voltage Error signal.
This value represents the unity gain bandwidth of the bus voltage loop.
Bus Voltage Integrator Bandwidth
Usage Access T Data Type Default Min Max Semantics of
Values
Required - G Set/SSV REAL 0 0 Loop Bandwidth
Voltage Control Eq 24 Units
only
The Bus Voltage Integrator Bandwidth attribute value determines the bus voltage
loop integral gain, Kbi, which together with the Kbp, multiplies the integrated Bus
Voltage Error signal. This value represents the bandwidth of the bus voltage
integrator beyond which the integrator is ineffective. A value of 0 for this attribute
disables the integrator.
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Bus Voltage Rate Limit
Usage Access T Data Type Default Min Max Semantics of
Values
Optional - G Set/SSV REAL 106 0 Volts/Second
Voltage Control Eq 28
only
The Bus Voltage Rate Limit attribute sets the DC Bus rate limit for the Bus
Voltage Set Point that becomes the DC Bus Reference signal when the Bus
Voltage Reference Source is set to Manual.
Bus Voltage Error Tolerance
Usage Access T Data Type Default Min Max Semantics of Values
Optional - B Set/SSV REAL 0 0 Volts
Voltage Control Eq 30
only - G
The Bus Voltage Error Tolerance attribute determines the absolute maximum Bus
Voltage Error value that can be tolerated without causing an Excessive Bus Voltage
Error exception.
Bus Voltage Error Tolerance Time
Usage Access T Data Type Default Min Max Semantics of
Values
Optional - B Set/SSV REAL 0.01 0 Second
Voltage Control
only - G
The Bus Voltage Error Tolerance Time attribute determines the maximum
amount of time that the Bus Voltage Error Tolerance can be exceeded without
generating an exception.
Bus Observer Configuration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - G Set/SSV USINT 0 - - Enumeration
Voltage Control 0 = Disabled (R)
only 1 = Bus Observer Only (O)
2 = Bus Observer with Voltage
Estimate (O)
3 = Voltage Estimate Only (O)
4-255 = Reserved
The Bus Observer Configuration attribute enumerated value configures the
operation of the Bus Observer. The Bus Observer dynamically measures the active
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current applied to the DC Bus for the purpose of bus impedance compensation.
Selecting the Voltage Estimate configures the observer to dynamically estimate
voltage based on an internal model of the DC Bus. When Voltage Estimate is
selected, this signal is applied to the voltage loop to provide superior control loop
performance. The Voltage Estimate may be used in combination with the Bus
Observer by selecting Bus Observer with Voltage Estimate.
Bus Observer Bandwidth
Usage Access T Data Type Default Min Max Semantics of Values
Optional - G Set/SSV REAL Eq 26 0 Loop Bandwidth Units
Voltage Control
only
The Bus Observer Bandwidth attribute value determines the proportional gain,
Kbop, of the Bus Observer. This value represents the unity gain bandwidth of the
Bus Observer.
Bus Observer Integrator Bandwidth
Usage Access T Data Type Default Min Max Semantics of Values
Optional - G Set/SSV REA 0 0 Loop Bandwidth Units
Voltage Control
only
The Bus Observer Integrator Bandwidth attribute value determines the Bus
Observer integral gain, Kboi, that together with the Kbop, multiplies the
integrated error signal within the observer. This value represents the bandwidth of
the integrator beyond which the integrator is ineffective. A value of 0 for this
attribute disables the integrator.
See also
Converter Current Reference Signal Attributes on page 612
Converter Bus Voltage These are the attributes of the bus voltage control loop associated with a
regenerative converter.
Control Signal Attributes
Bus Voltage Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV Real - - - Volts
Optional - N
Voltage Control
only - G
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The Bus Voltage Reference attribute is the converter DC bus voltage reference
signal into the bus voltage regulation summing junction to be compared with the
bus voltage feedback signal. When the Bus Voltage Reference Source is set to
Manual, the Bus Voltage Reference value shall equal the rate limited Bus Voltage
Set Point when the axis is in the Running state. In all other axis states, or when the
Bus Voltage Reference Source is set to Automatic, the Bus Voltage Reference is
under local control of the Converter and typically derived from the AC Line
Voltage.
Bus Voltage - High Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV Real - - - Volts
Voltage Control
only
The Bus Voltage - High Limit attribute is the high limit for the Bus Voltage
Reference signal established by the regenerative converter.
Bus Voltage - Low Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV Real - - - Volts
Voltage Control
only
The Bus Voltage - Low Limit attribute is the low limit for the Bus Voltage
Reference signal established by the regenerative converter. This limit is typically
derived from the AC Line Voltage Nominal attribute value.
Bus Voltage Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - Volts
Voltage Control
only
The Bus Voltage Feedback attribute is the measured DC bus voltage of the
converter output that is applied to the bus voltage summing junction.
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Bus Voltage Error
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - Volts
Voltage Control
only
The Bus Voltage Error attribute is the error between the Bus Voltage Reference
and Bus Voltage Feedback signals that is the output of the bus voltage loop
summing junction.
Bus Voltage Loop Output
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV Real - - - Volts/Seconds
Voltage Control
only
The Bus Voltage Loop Output attribute is the output of the bus voltage loop
forward path representing the total control effort of the bus voltage control loop.
Bus Observer Voltage Rate Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T Real - - - Volts/Seconds
Voltage Control
only
The Bus Observer Voltage Rate Estimate attribute is the output of the Bus
Observer that, when the Bus Observer block is enabled, is applied to the voltage
rate summing junction. When the Bus Observer is enabled, this signal
compensates for disturbances to the DC Bus relative to an ideal DC Bus model
with fixed capacitance. When the Bus Observer is disabled, this signal is 0.
Bus Observer Current Estimate
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T Real - - - % Rated
Voltage Control
only
The Bus Observer Current Estimate attribute is the product of the Bus Observer
Voltage Rate Estimate signal and the current System Capacitance value, Kc. In the
Bus Observer configuration, this signal represents the estimated current
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disturbances to the DC Bus relative to an ideal DC Bus model. When the Load
Observer is disabled, this signal is 0.
See also
Converter Bus Voltage Control Configuration Attributes on page 607
Converter Current Reference Configuration Attributes on page 610
Converter AC Line Monitoring Attributes on page 588
Converter Current These are the current reference configuration attributes associated with a
Regenerative Converter.
Reference Configuration
Attributes System Capacitance
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Set/SSV REAL 0 0 % Rated (Volts/Second)
Voltage Control FD
only
The System Capacitance attribute is the scaling gain value that converts voltage
rate commanded by the bus voltage control loop into equivalent active current,
expressed as a percent of the converter's current rating. Properly set, this value
represents the total system capacitance of the DC bus.
Active Current Command
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 - % Rated
The Active Current Command attribute sets the reference current used to actively
regulate the Active Current of the converter when in the Running state and
configured for AC Line Current Control mode. A positive value implies motoring
current. A negative value implies regenerative current.
Reactive Current Command
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 - % Rated
The Reactive Current Command attribute sets the reference current used to
actively regulate the Reactive Current of the converter when in the Running state
and configured for AC Line Current Control mode. A positive value implies
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reactive current (lagging relative to voltage) is consumed by the converter. A
negative value implies reactive current (leading relative to voltage) is produced by
the converter.
Active Current Trim
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV T REAL 0 - % Rated
The Active Current Trim attribute is the additional current command added to
the active current reference summing junction.
Active Current Low Pass Filter Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 104 Filter Frequency Units
FD
The Active Current Low Pass Filter Bandwidth attribute is the break frequency
for the low pass filter applied to active current reference signal. A value of 0 for this
attribute disables this feature.
Active Current Notch Filter Frequency
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 104 Filter Frequency Units
The Active Current Notch Filter Frequency attribute is the center frequency of
the notch filter applied to the active current reference signal. A value of 0 for this
attribute disables this feature.
Active Current Rate Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 % Rated/Second
The Active Current Rate Limit attribute sets the magnitude limit on the rate of
change of the converter's active current reference signal. This attribute applies only
when configured for AC Line Current Control mode.
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Reactive Current Rate Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 % Rated/Second
The Reactive Current Rate Limit sets the magnitude limit on the rate of change of
the converter's reactive current reference signal. This attribute applies only when
configured for AC Line Current Control mode.
See also
Converter Control Mode Attributes on page 601
Converter Types on page 600
Converter Current Reference These are the current reference signal attributes associated with a Regenerative
Converter.
Signal Attributes
Active Current Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - % Rated
The Active Current Reference attribute is the commanded active current
sourced by the DC bus voltage control loop or the Active Current Command
depending on Converter Control Mode. % Rated is defined as percent of the
Converter Rated Input Current.
Active Current Reference - Filtered
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - % Rated
The Active Current Reference - Filtered attribute is the commanded active
current reference signal after passing through the active current reference filters.
Active Current Reference - Compensated
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - % Rated
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The Active Current Reference - Compensated attribute is the commanded active
current reference signal after passing through the AC Line Filter Compensation
block.
Reactive Current Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - % Rated
The Reactive Current Reference attribute is the commanded reactive current
output of the Reactive Power Control block.
Reactive Current Reference - Compensated
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T Real - - - % Rated
The Reactive Current Reference - Compensated attribute is the commanded
reactive current reference signal after passing through the AC Line Filter
Compensation block.
See also
Converter Control Mode Attributes on page 601
Converter Current Control Signal Attributes on page 615
Converter Current Reference Configuration Attributes on page 610
Converter Current Control These are the current control configuration attributes for the Regenerative
Converter.
Configuration Attributes
Converter Current Loop Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 Loop Bandwidth Units
Eq 24
The Converter Current Loop Bandwidth attribute is the AC Line Current Loop
Proportional Gain value that multiplies the active and reactive AC Line Current
Error signals. This value directly determines the bandwidth of the active and
reactive AC line current loops.
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Converter Current Integrator Bandwidth
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 0 Loop Bandwidth Units
24
The Converter Current Integrator Bandwidth attribute is the AC Line Current
Loop Integral Gain value that, together with Kcp, multiplies the active and
reactive AC Line Current Error signals before applying them to the active and
reactive AC Line Current Integrator Error accumulators. This value represents
the bandwidth of the velocity integrator beyond which the integrator is
ineffective. A value of 0 for this attribute disables the integrators.
Converter Current Vector Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 103 % Rated
Eq29
The Converter Current Vector Limit attribute sets the value applied to current
vector limiter to provide a configurable limit to the magnitude of the converter's
active and reactive current reference signals.
Converter Current Loop Tuning Method
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV USINT 0 - - Enumeration:
0 = Direct
1 = Calculated
2-255 = Reserved
Use the Converter Current Loop Tuning Method attribute to configure the
responsiveness of the active and reactive current loops.
With the Direct method, the current loop response is determined directly by the
Converter Current Integrator Bandwidth value that maps to the integral gain, Kci,
of the converter’s current loop. When configured for the Direct tuning method,
the Converter Current Loop Damping attribute value has no effect on the current
control loops.
With the Calculated method, the loop response is determined by the Converter
Current Loop Damping value. The converter uses this value to calculate the
appropriate internal current loop integral gain, Kci, based on the Converter
Current Loop Bandwidth and known load characteristics of the AC Line. When
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configured for the Calculated tuning method, the Converter Current Loop
Integrator Bandwidth attribute value has no effect on the current control loops.
Converter Current Loop Damping
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 1 0.5 2.0
The Converter Current Loop Damping attribute is the Damping factor that,
together with the specified Converter Current Loop Bandwidth value, determines
responsiveness of the active and reactive AC line current loops. This attribute may
be used as an alternative to directly setting the Kci gain value for the current loops.
A damping factor of 1 results in a critically damped current loop.
See also
Converter Current Control Signal Attributes on page 615
Converter Current Control These are the active and reactive current control attributes for the associated
Motion Device Axis of a Regenerative Converter.
Signal Attributes
Converter Operative Current Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Rated
The Converter Operative Current Limit attribute represents the current limit
value applied to the magnitude of the compensated current reference vector,
consisting of Active and Reactive components. This value represents the
minimum of all Converter Current Limit Sources.
% Rated is defined as percent of the Converter Rated Input Current.
Active Power Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - % Rated
The Active Power Limit attribute is the current limit that corresponds to the
maximum active power transfer between the AC Line and the converter. This
value is calculated by the converter based on the value of the source impedance
between the converter and the AC Line, and the DC Bus Voltage level.
% Rated is defined as percent of the Converter Rated Input Current.
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Reactive Power Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - % Rated
The Reactive Power Limit attribute is the current limit that corresponds to the
maximum reactive power transfer between the AC Line and the converter. This
value is calculated by the converter based on the value of the source impedance
between the converter and the AC Line, and the DC Bus Voltage level.
% Rated is defined as percent of the Converter Rated Input Current.
Converter Current Limit Source
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T DINT - - - Enumeration:
0 = Not Limited
1 = Motoring Power Limit
2 = Regenerative Power Limit
3 = Current Vector Limit
4 = Thermal Current Limit
5 = Active Power Limit
6 = Reactive Power Limit
7-127 = Reserved
128-255 = Vendor specific
The Converter Current Limit Source attribute represents the operative source of a
converter current limit when a current limit condition occurs.
Active Current Reference - Limited
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T REAL - - - % Rated
The Active Current Reference - Limited attribute is the commanded active
current reference signal after passing through the Current Limiter block. % Rated
is defined as percent of the Converter Rated Input Current.
Reactive Current Reference - Limited
Usage Access T Data Default Min Max Semantics of Values
Type
Required - G Get/GSV T REAL - - - % Rated
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The Reactive Current Reference - Limited attribute is the commanded reactive
current reference signal after passing through the Current Limiter block. % Rated
is defined as percent of the Converter Rated Input Current.
Active Current Error
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Rated
The Active Current Error attribute is the error between active current reference
and active current feedback signals that is the output of the active power
producing current loop summing junction. % Rated is defined as percent of the
Converter Rated Input Current.
Reactive Current Error
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Rated
The Reactive Current Error attribute is the error between reactive current
reference and reactive current feedback signals that is the output of the reactive
power producing current loop summing junction. % Rated is defined as percent of
the Converter Rated Input Current.
Active Decoupling Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The Active Decoupling Voltage attribute is the voltage signal added to the active
current control loop output to compensate for the effects of reactive current and
apply an active feedforward signal.
Reactive Decoupling Voltage
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The Reactive Decoupling Voltage attribute is the voltage signal added to the
reactive current control loop output to compensate for the effects of active current
and apply a reactive feedforward signal.
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Active Voltage Output
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The Active Voltage Output attribute is the active power producing output voltage
from the active current control loop.
Reactive Voltage Output
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The Reactive Voltage Output attribute is the reactive power producing output
voltage from the reactive current control loop.
AC Line 1 Voltage Output
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The AC Line 1 Voltage Output attribute is the instantaneous output voltage
applied between the L1 and L2 phases of AC line by the PWM modulator and
power structure. The resultant modulated output voltage is applied on the
converter side of the AC Line Filter.
AC Line 2 Voltage Output
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The AC Line 2 Voltage Output attribute is the instantaneous output voltage to be
applied between the L2 and L3 phases of AC line by the PWM generator and
power structure. The resultant modulated output voltage is applied on the
converter-side of the AC Line Filter.
AC Line 3 Voltage Output
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
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The AC Line 3 Voltage Output attribute is the instantaneous output voltage to be
applied between the L3 and L1 phases of AC line by the PWM generator and
power structure. The resultant modulated output voltage is applied on the
converter-side of the AC Line Filter.
AC Line 1 Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Amps
The AC Line 1 Current Feedback attribute is the measured instantaneous current
applied to the L1 phase of AC Line from sensors on the converter-side of the AC
Line Filter.
AC Line 2 Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Amps
The AC Line 2 Current Feedback attribute is the measured instantaneous current
applied to the L2 phase of AC Line from sensors on the converter-side of the AC
Line Filter.
AC Line 3 Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Amps
The AC Line 3 Current Feedback attribute is the measured instantaneous current
applied to the L3 phase of AC Line from sensors on the converter-side of the AC
Line Filter.
Active Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Rated
The Active Current Feedback attribute is the measured active power producing
current of the AC line based on transformed AC Line Current Feedback from the
three phases. A positive value indicates motoring current and negative value
indicates regenerative current.
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Reactive Current Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - % Rated
The Reactive Current Feedback attribute is the reactive power producing current
of the AC line based on transformed AC Line Current Feedback from the three
phases. A positive value indicates lagging current and negative value indicates
leading current.
AC Line 1 Voltage Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The AC Line 1 Voltage Feedback attribute is the measured instantaneous voltage
applied between the L1 and L2 phases of AC Line from sensors on the grid-side of
the AC Line Filter.
AC Line 2 Voltage Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The AC Line 2 Voltage Feedback attribute is the measured instantaneous voltage
applied between the L2 and L3 phases of AC Line from sensors on the grid-side of
the AC Line Filter.
AC Line 3 Voltage Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The AC Line 3 Voltage Feedback attribute is the measured instantaneous voltage
applied between the L3 and L1 phases of AC Line from sensors on the grid-side of
the AC Line Filter.
Active Voltage Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
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The Active Voltage Feedback attribute is the active power producing voltage of
the AC line based on transformed AC Line Voltage Feedback from the three
phases.
Reactive Voltage Feedback
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - Volts
The Reactive Voltage Feedback attribute is the reactive power producing voltage
of the AC line based on transformed AC Line Voltage Feedback from the three
phases.
AC Line Electrical Angle
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV T REAL - - - Degrees
The AC Line Electrical Angle attribute is the estimated electrical angle of the AC
line voltage.
See also
Converter Current Reference Signal Attributes on page 612
Axis Info Attributes on page 312
Converter Reactive Power These are the reactive power control attributes for the Motion Device Axis Object
for a Regenerative Converter.
Control Attributes
Reactive Power Set Point
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 0 - % Rated
The Reactive Power Set Point attribute sets the reference current used to actively
regulate the AC Line Reactive Power of the converter when in the Running state.
Attribute units are expressed in percent for Converter Rated Output Power (Attr
ID 724).
Positive value indicates lagging kVAR and negative value indicates leading kVAR.
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Reactive Power Reference
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - % Rated
The Reactive Power Reference attribute is the rate limited reference signal into the
Reactive Power Control function. Attribute units are expressed in percent for
Converter Rated Output Power (Attr ID 724).
Reactive Power Available
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Get/GSV REAL - - - % Rated
The Reactive Power Available attribute represents available Reactive Power based
on the converter rating and the load on the converter. Attribute units are
expressed in percent for Converter Rated Output Power (Attr ID 724).
Reactive Power Rate Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - G Set/SSV REAL 100 0 % Rated/Second
The Reactive Power Rate Limit attribute sets the active current rate limit for AC
Line Reactive Power Set Point input. The output of the Reactive Power Rate
Limit function is the AC Line Reactive Power Reference signal. Attribute units
are expressed in percent for Converter Rated Output Power (Attr ID 724) per
second.
See also
Axis Info Attributes on page 312
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Converter Output Attributes These are the converter output related attributes associated with Motion Control
Axis.
Converter Output Current
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV T REAL - - - Amps
The Converter Output Current attribute 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. A negative value
indicates current flow into the converter, where the converter is absorbing
“regenerative” power from attached loads.
Converter Output Power
Usage Access T Data Default Min Max Semantics of Values
Type
Optional - BD Get/GSV T REAL - - - Power Units
The Converter Output Power attribute is the output power generated by the Bus
Converter. This value is based on the product of the Converter Output Current
and DC Bus Voltage. A positive value indicates power flow out of the converter,
where the converter is supplying DC bus power to attached loads. A negative value
indicates power flow into the converter, where the converter is absorbing
"regenerative" power from attached loads.
See also
DC Bus Condition Attributes on page 579
Exceptions The various motion attributes can result in exceptions that can be configured to
present either a fault or alarm.
Standard Exceptions The following table lists the standard exception conditions associated with the
CIP Axis Exceptions, CIP Axis Faults, and CIP Axis Alarms attributes and their
extension attributes, Axis Exceptions 2, Axis Faults 2, and Axis Alarms 2. While
the CIP Axis Exceptions, CIP Axis Faults, and CIP Axis Alarms attributes and
their extensions are all required in the CIP Motion device implementation,
support for each individual exception condition is optional.
The Rule column in the following table indicates the Device Function Codes
where the associated exception is applicable.
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• 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)
• 2 = Fault Status Only (B, D)
• 3 = Stop Planner (D)
Standard exceptions
Array Rule Exception Description
Index
0 - 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 condition is
present.
1 D Motor Overcurrent Motor current has exceeded its rated peak or instantaneous
current limit.
2 D Motor Commutation Permanent magnet motor commutation problem detected, such
as an illegal state '111' or '000' for UVW commutation signals, S1,
S2, and S3.
3 D Motor Overspeed FL Motor speed has exceeded the Motor Overspeed Factory Limit
attribute associated with the motor type.
4 D Motor Overspeed UL Motor speed has exceeded the user-defined speed limit given by
Motor Overspeed User Limit.
5 D Motor Overtemperature FL Motor temperature has exceeded the Motor Overtemperature
Factory Limit, or the integrated motor thermal switch has
tripped.
6 D Motor Overtemperature UL Motor temperature has exceeded the user defined temperature
limit given by Motor Overtemperature User Limit.
7 D Motor Thermal Overload FL Motor thermal model or I2T overload value has exceeded its
factory set thermal capacity limit given by Motor Thermal
Overload Factory Limit.
8 D Motor Thermal Overload UL Motor thermal model or I2T overload value has exceeded its
user-defined thermal capacity given by Motor Thermal Overload
User Limit.
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Array Rule Exception Description
Index
9 D 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.
During normal operation in the Running state, the motor phase
loss test cycles through the three motor currents checking that
current in each motor phase exceeds the threshold level. When
the phase being checked exceeds the level, the check is advanced
to the next phase. If any phase fails to exceed the level within a
vendor specific time period, for example, one second, this
exception is issued. The motor phase loss test only runs when the
motor is running above a vendor specified speed.
When Torque Proving is enabled, the motor phase current is
checked during the Starting state. The current is applied to the
motor at a fixed angle that is known to produce current in all
three motor phases; hence this test takes very little time to
execute. The Motor Phase Loss Limit is used to determine if the
drive can produce torque. The measured current in all three
phases need to exceed this level for a pass to occur.
10 D Inverter Overcurrent Inverter current has exceeded the factory set peak or
instantaneous current limit.
11 D Inverter Overtemperature FL Inverter temperature has exceeded its factory set temperature
limit given by the Inverter Overtemperature Factory Limit.
12 D Inverter Overtemperature UL Inverter temperature has exceeded the user defined temperature
limit given by Inverter Overtemperature User Limit.
13 D Inverter Thermal Overload FL Inverter thermal model or I2T overload value has exceeded its
factory set thermal capacity limit given by the Inverter Thermal
Overload Factory Limit.
14 D Inverter Thermal Overload UL Inverter thermal model or I2T overload value has exceeded its
user-defined thermal capacity given by the Inverter Thermal
Overload User Limit.
15 BD Converter Overcurrent Converter current has exceeded the factory set peak or
instantaneous current limit.
16 BD Converter Ground Current FL Ground Current has exceeded its factory set current limit given by
the Converter Ground Current Factory Limit.
17 BD Converter Ground Current UL Ground Current has exceeded user-defined limit given by the
Converter Ground Current User Limit.
18 BD Converter Overtemperature FL Converter temperature has exceeded its factory set temperature
limit given by the Converter Overtemperature Factory Limit.
19 BD Converter Overtemperature UL Converter temperature has exceeded the user-defined
temperature limit given by the Converter Overtemperature User
Limit.
20 BD Converter Thermal Overload FL Converter thermal model or I2T overload value has exceeded its
factory set thermal capacity limit given by the Converter Thermal
Overload Factory Limit.
21 BD Converter Thermal Overload UL Converter thermal model or I2T overload value has exceeded its
user-defined thermal capacity given by the Converter Thermal
Overload User Limit.
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Array Rule Exception Description
Index
22 BD Converter AC Power Loss Multiple AC phases have been lost on the AC line to the converter,
usually as a result of opening an AC line contactor. For
regenerative converters, this exception is generated at the expiry
of the configured Power Loss Time while attempting to Ride Thru
a Power Loss condition. When associated with an external
converter in a Shared AC/DC or Shared DC bus configuration, the
AC Power Loss condition detected by the converter can be
conveyed using the CIP Motion connection's Control Status
element. Generally, this exception is not asserted unless the
device's power structure is enabled.
23 BD Converter AC Single Phase Loss One AC phase have been lost on the AC line to the converter.
24 BD Converter AC Phase Short A short has been detected between an AC phase and another AC
phase or ground.
25 BD Converter Pre-Charge Failure A problem has been detected in the pre-charge circuitry of the
converter preventing the DC Bus from charging to an acceptable
voltage level.
26 --Reserved-- -
27 BD Bus Regulator Overtemperature Bus Regulator temperature has exceeded its factory set
FL temperature limit given by the Bus Regulator Overtemperature
Factory Limit.
28 BD Bus Regulator Overtemperature Bus Regulator temperature has exceeded the user-defined
UL temperature limit given by the Bus Regulator Overtemperature
User Limit.
29 BD Bus Regulator Thermal Bus Regulator thermal model or I2T overload value has exceeded
Overload FL its factory set thermal capacity limit given by the Bus Regulator
Thermal Overload Factory Limit.
30 BD Bus Regulator Thermal Bus Regulator thermal model or I2T overload value has exceeded
Overload UL its user-defined thermal capacity given by the Bus Regulator
Thermal Overload User Limit.
31 BD Bus Regulator Failure The bus regulator (shunt) module in a multi-axis system has a
failed.
32 BD Bus Module Failure The bus module failed. Fault/Alarm Sub Code identifies the
specific type of bus module that failed.
33 BD Bus Undervoltage FL DC Bus voltage level is below the factory set limit given by the
Bus Undervoltage Factory Limit.
34 BD Bus Undervoltage UL DC Bus voltage level is below user-defined limit given by the Bus
Undervoltage User Limit.
35 BD Bus Overvoltage FL DC Bus voltage level is above the factory set limit given by the Bus
Overvoltage Factory Limit.
36 BD Bus Overvoltage UL DC Bus voltage level is above user-defined limit given by the Bus
Overvoltage User Limit.
37 BD Bus Power Loss DC Bus voltage level is below the Bus Power Loss Threshold for
more than the timeout period specified by the Bus Power Loss
Time value.
38 BD Bus Power Fuse Blown DC bus power loss due to blown fuse.
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Array Rule Exception Description
Index
39 D 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.
40 BD Bus Power Sharing An external converter sharing DC Bus power with this drive in a
Shared AC/DC or Shared DC configuration has requested that this
drive stop consuming power from the shared DC Bus. This may
require that the drive be disabled to remove its DC Bus Power
load from the failed converter. When there is no communication
link between this drive and the external converter, the controller
can monitor the DC Bus Unload bit of the converter axes and, if
set, it can initiate Bus Power Sharing exceptions on all drives
associated with the failed converter. See the DC Bus Unload status
bit definition associated with the Axis Status attribute for a
detailed description of this behavior.
41 E Feedback Signal Noise FL Noise induced A/B channel state changes (illegal states) from a
feedback device were detected by the drive. Specifically, the
number of these noise events that have occurred on this channel
has exceeded the Feedback Noise Factory Limit. The offending
feedback channel number is encoded in the associated
fault/alarm sub code.
42 E Feedback Signal Noise UL Noise induced A/B channel state changes (illegal states) from a
feedback device were detected on a feedback channel.
Specifically, the number of these noise events that have occurred
on this channel has exceeded the Feedback Noise User Limit. The
offending feedback channel is encoded in the associated
fault/alarm sub code.
43 E Feedback Signal Loss FL One or more A/B channel signals from a feedback device are
open, shorted, missing, or severely attenuated. Specifically, the
detected voltage levels of the signals are below the Feedback
Loss Factory Limit. The offending feedback channel is encoded in
the associated fault/alarm sub code.
44 E Feedback Signal Loss UL One or more A/B channel signals from a feedback device are
open, shorted, missing, or severely attenuated. Specifically, the
detected voltage levels of the signals are below the Feedback
Loss User Limit. The offending feedback channel is encoded in the
associated fault/alarm sub code.
45 E Feedback Data Loss FL The number of consecutive missed or corrupted serial data
packets over the serial data channel from a feedback device has
exceeded the Feedback Data Loss Factory Limit. The offending
feedback channel is encoded in the associated fault/alarm sub
code.
46 E Feedback Data Loss UL The number of consecutive missed or corrupted serial data
packets over the serial data channel from a feedback device has
exceeded the Feedback Data Loss User Limit. The offending
feedback channel is encoded in the associated fault/alarm sub
code.
47 E Feedback Device Failure The feedback device has detected an internal error. The offending
feedback channel is encoded in the associated Fault/Alarm Sub
Code.
48 - Reserved -
49 D Brake Slip Motor displacement exceeds the brake slip tolerance while the
mechanical brake is engaged.
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Chapter 4 CIP Axis Attributes
Array Rule Exception Description
Index
50 D 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. Any attempt, however, to move the
axis further beyond the hardware overtravel limit using a motion
instruction will result in an instruction error.
51 D Hardware Overtravel Negative Axis moved beyond the physical travel limits in the negative
direction and activated the Negative 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. Any attempt, however, to move the
axis further beyond the hardware overtravel limit using a motion
instruction will result in an instruction error.
52 E Position Overtravel Positive Axis actual position exceeded the configured Position Limit -
Positive attribute value in the positive direction. (Drive Scaling
only).
53 E Position Overtravel Negative Axis actual position exceeded the configured Position Limit -
Negative attribute value in the negative direction. (Drive Scaling
only).
54 P Excessive Position Error The Position Error value of the position control loop has exceeded
the configured value for Position Error Tolerance.
55 PV Excessive Velocity Error The Velocity Error value of the velocity control loop has exceeded
the configured value for Velocity Error Tolerance.
56 C Overtorque Limit Motor torque has risen above user-defined maximum torque
level given by Overtorque Limit.
57 C Undertorque Limit Motor torque has dropped below user-defined minimum torque
level given by Undertorque Limit.
58 B Excessive Bus Voltage Error The Bus Voltage Error value of the bus voltage control loop has
exceeded the configured value for Bus Voltage Error Tolerance.
59 - Reserved -
60 All Illegal Control Mode Controller has specified an unsupported Control Mode or
Feedback Mode
61 BD Enable Input Deactivated Enable has been deactivated while the axis is in Running state.
62 All Controller Initiated Exception Exception generated specifically by controller.
63 All External Input Exception Exception generated by external input to device.
64 G AC Line Overvoltage FL AC Line voltage has exceeded the factory set voltage limit given
by AC Line Overvoltage Factory Limit. Sub Code 1,2,3 = Line 1,2,3
Overvoltage.
65 G AC Line Overvoltage UL AC Line voltage has exceeded the user defined voltage limit given
by AC Line Overvoltage User Limit. Sub Code Instance 1,2,3 =
Line 1,2,3 Overvoltage.
66 G AC Line Undervoltage FL AC Line voltage has dropped below the factory set voltage limit
given by AC Line Undervoltage Factory Limit. Sub Code Instance
1,2,3 = Line 1,2,3 Undervoltage.
67 G AC Line Undervoltage UL AC Line voltage has dropped below the user defined voltage limit
given by AC Line Overvoltage User Limit. Sub Code Instance 1,2,3
= Line 1,2,3 Undervoltage.
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CIP Axis Attributes Chapter 4
Array Rule Exception Description
Index
68 G AC Line High Frequency FL AC Line frequency has exceeded the factory set high frequency
limit given by AC Line High Freq Factory Limit.
69 G AC Line High Frequency UL AC Line frequency has exceeded the user defined high frequency
limit given by AC Line High Freq User Limit.
70 G AC Line Low Frequency FL AC Line frequency has dropped below the factory set low
frequency limit given by AC Line Low Freq Factory Limit.
71 G AC Line Low Frequency UL AC Line frequency has dropped below user defined low frequency
limit given by AC Line Low Freq User Limit.
72 G AC Line Voltage Unbalance AC Line Voltage Unbalance has exceeded the configured AC Line
Voltage Unbalance Limit.
73 G AC Line Current Unbalance AC Line Current Unbalance has exceeded the configured AC Line
Current Unbalance Limit.
74 G AC Line Voltage Sag AC Line Voltage has dropped below the AC Line Voltage Sag
Threshold for more than the timeout period specified AC Line
Voltage Sag Time value.
75 G AC Line Frequency Change AC Line Frequency rate of change has exceeded the AC Line
Frequency Change Threshold for more than the timeout period
specified AC Line Frequency Change Time value.
76 G AC Line Sync Loss AC Line synchronization has been lost for more than the timeout
period specified AC Line Sync Loss Time.
77 G AC Line Sync Failure AC Line synchronization function has detected errors and
synchronization to the AC line has not been established for more
than the factory set timeout period. This condition is detected
and reported in Starting state only.
78-127 - --Reserved--
See also
Rockwell Automation Specific Exceptions on page 634
Standard CIP Axis Fault and Based on the Exception Action configuration, Exception conditions can become
Faults or Alarms. The naming convention for Faults is to append a 'Fault' suffix to
Alarm Names
the Exception name. Similarly, the convention for Alarms is to append an 'Alarm'
suffix to the Exception name.
This table lists the resulting Fault names associated with the Standard Exception
conditions.
Standard CIP Axis Fault Names
Bit Object CIP Axis Fault Name
0 --Reserved--
1 Motor Overcurrent Fault
2 Motor Commutation Fault
3 Motor Overspeed FL Fault
4 Motor Overspeed UL Fault
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Chapter 4 CIP Axis Attributes
Bit Object CIP Axis Fault Name
5 Motor Overtemperature FL Fault
6 Motor Overtemperature UL Fault
7 Motor Thermal Overload FL Fault
8 Motor Thermal Overload UL Fault
9 Motor Phase Loss Fault
10 Inverter Overcurrent Fault
11 Inverter Overtemperature FL Fault
12 Inverter Overtemperature UL Fault
13 Inverter Thermal Overload FL Fault
14 Inverter Thermal Overload UL Fault
15 Converter Overcurrent Fault
16 Converter Ground Current FL Fault
17 Converter Ground Current UL Fault
18 Converter Overtemperature FL Fault
19 Converter Overtemperature UL Fault
20 Converter Thermal Overload FL Fault
21 Converter Thermal Overload UL Fault
22 Converter AC Power Loss Fault
23 Converter AC Single Phase Loss Fault
24 Converter AC Phase Short Fault
25 Converter Pre Charge Fault
26 --Reserved--
27 Bus Regulator Overtemperature FL Fault
28 Bus Regulator Overtemperature UL Fault
29 Bus Regulator Thermal Overload FL Fault
30 Bus Regulator Thermal Overload UL Fault
31 Bus Regulator Fault
32 Bus Module Fault
33 Bus Undervoltage FL Fault
34 Bus Undervoltage UL Fault
35 Bus Overvoltage FL Fault
36 Bus Overvoltage UL Fault
37 Bus Power Loss Fault
38 Bus Power Blown Fuse
39 Bus Power Leakage Fault
40 Bus Power Sharing Fault
41 Feedback Signal Noise FL Fault
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Bit Object CIP Axis Fault Name
42 Feedback Signal Noise UL Fault
43 Feedback Signal Loss FL Fault
44 Feedback Signal Loss UL Fault
45 Feedback Data Loss FL Fault
46 Feedback Data Loss UL Fault
47 Feedback Device Fault
48 --Reserved--
49 Brake Slip Fault
50 Hardware Overtravel Positive Fault
51 Hardware Overtravel Negative Fault
52 Position Overtravel Positive Fault
53 Position Overtravel Negative Fault
54 Excessive Position Error Fault
55 Excessive Velocity Error Fault
56 Overtorque Limit Fault
57 Undertorque Limit Fault
58 Excessive Bus Voltage Error Fault
59 --Reserved--
60 Illegal Control Mode Fault
61 Enable Input Deactivated Fault
62 Controller Initiated Fault
63 External Input Fault
64 AC Line Overvoltage FL Fault
65 AC Line Overvoltage UL Fault
66 AC Line Undervoltage FL Fault
67 AC Line Undervoltage UL Fault
68 AC Line High Frequency FL Fault
69 AC Line High Frequency UL Fault
70 AC Line Low Frequency FL Fault
71 AC Line Low Frequency UL Fault
72 AC Line Voltage Unbalance Fault
73 AC Line Current Unbalance Fault
74 AC Line Voltage Sag Fault
75 AC Line Frequency Change Fault
76 AC Line Sync Loss Fault
77 AC Line Sync Failure Fault
Standard CIP Axis Alarm Names
This table lists the resulting Alarm names associated with the Standard Exception
conditions.
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Chapter 4 CIP Axis Attributes
Bit Object CIP Axis Alarm Name
0 --Reserved--
1 Motor Overcurrent Alarm
2 Motor Commutation Alarm
3 Motor Overspeed FL Alarm
4 Motor Overspeed UL Alarm
5 Motor Overtemperature FL Alarm
6 Motor Overtemperature UL Alarm
7 Motor Thermal Overload FL Alarm
8 Motor Thermal Overload UL Alarm
9 Motor Phase Loss Alarm
10 Inverter Overcurrent Alarm
11 Inverter Overtemperature FL Alarm
12 Inverter Overtemperature UL Alarm
13 Inverter Thermal Overload FL Alarm
14 Inverter Thermal Overload UL Alarm
15 Converter Overcurrent Alarm
16 Converter Ground Current FL Alarm
17 Converter Ground Current UL Alarm
18 Converter Overtemperature FL Alarm
19 Converter Overtemperature UL Alarm
20 Converter Thermal Overload FL Alarm
21 Converter Thermal Overload UL Alarm
22 Converter AC Power Loss Alarm
23 Converter AC Single Phase Loss Alarm
24 Converter AC Phase Short Alarm
25 Converter Pre-Charge Alarm
26 --Reserved--
27 Bus Regulator Overtemperature FL Alarm
28 Bus Regulator Overtemperature UL Alarm
29 Bus Regulator Thermal Overload FL Alarm
30 Bus Regulator Thermal Overload UL Alarm
31 Bus Regulator Alarm
32 Bus Module Alarm
33 Bus Undervoltage FL Alarm
34 Bus Undervoltage UL Alarm
35 Bus Overvoltage FL Alarm
36 Bus Overvoltage UL Alarm
37 Bus Power Loss Alarm
38 Bus Power Blown Fuse Alarm
39 Bus Power Leakage Alarm
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40 Bus Power Sharing Alarm
41 Feedback Signal Noise FL Alarm
42 Feedback Signal Noise UL Alarm
43 Feedback Signal Loss FL Alarm
44 Feedback Signal Loss UL Alarm
45 Feedback Data Loss FL Alarm
46 Feedback Data Loss UL Alarm
47 Feedback Device Alarm
48 --Reserved--
49 Brake Slip Alarm
50 Hardware Overtravel Positive Alarm
51 Hardware Overtravel Negative Alarm
52 Position Overtravel Positive Alarm
53 Position Overtravel Negative Alarm
54 Excessive Position Error Alarm
55 Excessive Velocity Error Alarm
56 Overtorque Limit Alarm
57 Undertorque Limit Alarm
58 Excessive Bus Voltage Error Alarm
59 --Reserved--
60 Illegal Control Mode Alarm
61 Enable Input Deactivated Alarm
62 Controller Initiated Alarm
63 External Input Alarm
64 AC Line Overvoltage FL Alarm
65 AC Line Overvoltage UL Alarm
66 AC Line Undervoltage FL Alarm
67 AC Line Undervoltage UL Alarm
68 AC Line High Frequency FL Alarm
69 AC Line High Frequency UL Alarm
70 AC Line Low Frequency FL Alarm
71 AC Line Low Frequency UL Alarm
72 AC Line Voltage Unbalance Alarm
73 AC Line Current Unbalance Alarm
74 AC Line Voltage Sag Alarm
75 AC Line Frequency Change Alarm
76 AC Line Sync Loss Alarm
77 AC Line Sync Failure Alarm
See also
Standard Exceptions on page 623
Rockwell Automation Specific Exceptions on page 634
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Chapter 4 CIP Axis Attributes
Rockwell Automation Specific This table defines a list of Rockwell Automation specific exception conditions
associated with the CIP Axis Exceptions-RA, CIP Axis Faults-RA, and CIP Axis
Exceptions
Alarms-RA attributes and their extension attributes, Axis Exceptions 2 Mfg, Axis
Faults 2 Mfg, and Axis Alarms 2 Mfg attributes. While the CIP Axis Exceptions -
RA, CIP Axis Faults - RA, and CIP Axis Alarms - RA attributes and their
extensions are all Required in the CIP Motion device implementation, support for
each of the individual exception conditions therein is left Optional.
The Rule column in the following table indicates the Device Function Codes
where the associated exception is applicable.
• 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)
• 2 = Fault Status Only (B, D)
• 3 = Stop Planner (D)
Rockwell Automation Specific Exception Table
Bit Rule Exception Name Description
0 - -- 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
condition is present.
1 D Commutation Startup Failure The self-sensing commutation startup algorithm failed.
2 D Motor Voltage Mismatch The motor voltage is incompatible with the applied drive
voltage.
3 - -- Reserved --
4 E Feedback Filter Noise Excessive levels of noise have been detected by the digital
feedback filter.
5 E Feedback Battery Loss The battery charge level is too low and encoder power has
been removed possibly resulting in loss of absolute position.
6 E Feedback Battery Low The battery charge level is too low but encoder power has not
yet been removed. This is intended as a warning that if
encoder power is lost absolute feedback position could be lost.
7 E Feedback Incremental Count The periodic check of the incremental encoder position against
Error the absolute encoder position or Hall edges indicates they are
out of tolerance.
8 - -- Reserved --
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CIP Axis Attributes Chapter 4
Bit Rule Exception Name Description
9 - -- Reserved --
10 ALL Control Module Kinetix: The control module temperature has exceeded its
Overtemperature FL limit. Rhino: The temperature sensor on the Main Control
Board detected excessive heat.
11 --Reserved--
12 BD Converter Pre-Charge Overload Converter estimates that the pre-charge circuit has exceeded
FL its factory limit due to excessive power cycling.
13 --Reserved--
14 BD Excessive Current Feedback Current in one or more phases has been lost or remains below
Offset a preset level.
15 BD Regenerative Power Supply The hardware Regeneration OK input was deactivated while
Failure the drive was enabled.
16 D PWM Frequency Reduced Carrier Frequency foldback due to excessive Junction
Temperature.
17 D Current Limit Reduced Current Limit reduced due to excessive Junction Temperature
or due to Overload Protection.
18 D Torque Prove Failure Actual feedback indicates error in torque proving.
19 D Decel Override The drive is not following a commanded deceleration because
it is attempting to limit bus voltage.
20 D Preventative Maintenance Component has reached lifetime limit.
21 D Motor Test Failure Motor Test procedure has failed.
22 D Hardware Configuration Error related to the tracking of optional hardware installation.
23 ALL Firmware Change Errors or forced configuration changes relating to firmware
update.
24 BD Converter Pre-Charge Input The Converter Pre-Charge Input is deactivated while the axis
Deactivated power structure is enabled, and is supplying current to the DC
Bus or motor.
25 BD DC Common Bus Error has been detected related to Common Bus operation.
26 ALL Runtime Error Runtime assertions detected.
27 D Backplane Communication Error in communicating over the modular backplane.
Error
28 D Safety Module Communication Error in communicating to the Safety module.
Error
29 BD AC Line Contactor AC Line Contactor is missing or is incorrectly wired. This
condition is checked upon entering the Pre-Charge state if AC
Line Contactor Input Checking is Enabled and an AC Line
Contactor OK digital input is provided.
This exception has two sub codes: 01 = AC Line Contactor is
not Present, 02 = Wiring Error with AC Line Contactor Circuit
Detected.
30 G AC Line Resonance FL Converter has detected AC line resonance current that has
exceeded the factory set limit given by AC Line Resonance
Factory Limit.
31 G AC Line Resonance UL Converter has detected AC line resonance current that has
exceeded the user set limit given by AC Line Resonance User
Limit.
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Chapter 4 CIP Axis Attributes
Bit Rule Exception Name Description
32-62 - -- Reserved --
63 ALL Product Specific Product Specific (exotic) exceptions by Sub Code.
64-127 - Reserved
Based on the Exception Action configuration, Exception conditions can become
Faults or Alarms. The naming convention for Faults is to append a "Fault" suffix
to the Exception name. Similarly, the convention for Alarms is to append an
"Alarm" suffix to the Exception name.
See also
Rockwell Automation Specific CIP Axis Alarm Names on page 637
Rockwell Automation Specific CIP Axis Fault Names on page 636
Rockwell Automation Specific Initialization Faults on page 409
Rockwell Automation Specific Start Inhibits on page 578
Standard Exceptions on page 623
Rockwell Automation Specific Based on the Exception Action configuration, Exception conditions can become
Faults or Alarms. The naming convention for Faults is to append a Fault suffix to
CIP Axis Fault Names
the Exception name. Similarly, the convention for Alarms is to append an Alarm
suffix to the Exception name. This table lists the resulting Fault names associated
with the above exception conditions.
Rockwell Automation Specific CIP Axis Fault Names
Bit Object CIP Axis Fault Name
1 Commutation Startup Fault
2 Motor Voltage Mismatch
4 Feedback Filter Noise Fault
5 Feedback Battery Loss Fault
6 Feedback Battery Low Fault
7 Feedback Incremental Count Error Fault
10 Control Module Overtemperature FL Fault
11 Control Module Overtemperature UL Fault
12 Converter Pre Charge Overload FL Fault
13 Converter Pre-Charge Overload UL Fault
14 Excessive Current Feedback Offset Fault
15 Regenerative Power Supply Fault
16 PWM Frequency Reduced Fault
17 Current Limit Reduced Fault
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CIP Axis Attributes Chapter 4
Bit Object CIP Axis Fault Name
18 Torque Prove Fault
19 Decel Override Fault
20 Preventative Maintenance Fault
21 Motor Test Fault
22 Hardware Configuration Fault
23 Firmware Change Fault
24 Converter Pre-Charge Input Deactivated Fault
25 DC Common Bus Fault
26 Runtime Error Fault
27 Backplane Communication Error Fault
28 Safety Module Communication Error Fault
29 AC Line Contactor Fault
30 AC Line Resonance FL Fault
31 AC Line Resonance UL Fault
63 Product Specific Fault
See also
Rockwell Automation Specific Exceptions on page 634
Rockwell Automation Specific CIP Axis Alarm Names on page 637
Rockwell Automation Specific Initialization Faults on page 409
Rockwell Automation Specific Start Inhibits on page 578
Rockwell Automation The following table lists the resulting Alarm names associated with the Rockwell
Automation specific exception conditions.
Specific CIP Axis Alarm
Names Bit Object CIP Axis Alarm Name
1 Commutation Startup Alarm
4 Feedback Filter Noise Alarm
5 Feedback Battery Loss Alarm
6 Feedback Battery Low Alarm
7 Feedback Incremental Count Error Alarm
10 Control Module Overtemperature FL Alarm
11 Control Module Overtemperature UL Alarm
12 Converter Pre Charge Overload FL Alarm
13 Converter Pre-Charge Overload UL Alarm
14 Excessive Current Feedback Offset Alarm
15 Regenerative Power Supply Alarm
16 PWM Frequency Reduced Alarm
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Chapter 4 CIP Axis Attributes
Bit Object CIP Axis Alarm Name
17 Current Limit Reduced Alarm
18 Torque Prove Alarm
19 Decel Override Alarm
20 Preventative Maintenance Alarm
21 Motor Test Alarm
22 Hardware Configuration Alarm
23 Firmware Change Alarm
24 Converter Pre-Charge Input Deactivated Alarm
25 DC Common Bus Alarm
26 Runtime Error Alarm
27 Backplane Communication Error Alarm
28 Safety Module Communication Error Alarm
29 AC Line Contactor Alarm
30 AC Line Resonance FL Alarm
31 AC Line Resonance UL Alarm
63 Product Specific Alarm
See also
Rockwell Automation Specific Exceptions on page 634
Rockwell Automation Specific CIP Axis Fault Names on page 636
Rockwell Automation Specific Initialization Faults on page 409
Rockwell Automation Specific Start Inhibits on page 578
638 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
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. Module Configuration attributes may be included
in the CIP Motion Control Axis Object implementation or they may be included
as part of a vendor specific device interface. In the Rockwell Automation
implementation, these attributes appear as data elements of the Configuration Tag
(C-tag) data structure associated with each drive devices connection’s Map Object
instance. These C-tag elements are not accessible as object attributes and therefore
cannot be referenced programmatically using SSV, GSV, or MSG instructions.
The Need in Implementation Rules apply for either case.
The following general categories of module configuration attributes that are
defined:
Category Usage
Module Configuration Block Attributes Used to configure elements of the Configuration Block sent in the CIP Motion
on page 639 Forward_Open.
Module Class Attributes on page 641 Used to configure Motion Device Axis Object class attributes associated with
the device.
Module Axis Attributes on page 642 Used to configure Motion Device Axis Object axis attributes that apply to a
common device component.
Module Feedback Port Attributes on page Used to configure the mapping of feedback ports to feedback channels for
656 each axis instance.
Module Timing Attributes on page 657 Used to configure various time related aspects of the CIP Motion device.
Module Support Attributes on page 659 Used to determine the size and content of the configuration data needed by
the CIP Motion device.
See also
CIP Axis Attributes on page 259
Interpret the Attribute Tables on page 93
Module Configuration The following collection of Module Class Attributes are stored in the controller
and sent to the module as part of the Configuration Block of the Forward_Open
Block Attributes service.
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Chapter 5 Module Configuration Attributes
Configuration Bits
Usage Access T Data Default Min Max Semantics of Values
Type
Required - All BYTE 0 - - 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. Each bit is either true or false.
• 'Verify Power Structure' bit is used to control whether the drive performs an
"extended key" check against its Drive Class ID.
• 'Networked Safety Bit Valid' bit determines if the 'Allow Networked Safety'
bit (bit 2) of this attribute is valid and is enforced by the drive.
• 'Allow Networked Safety' bit determines if the drive is allowed to accept a
Propose_TUNID service request from a Safety Controller to establish
safety ownership and subsequent safety connections.
Drive Power Class ID
Usage Access T Data Default Min Max Semantics of Values
Type
Required - D DINT 0 - - Unique ID of the power structure
used to verify if the user selected
power structure matches that of
the drive device.
If power structure varies with the axis instances of a multi-axis drive device then a
value of 0 is applied to this attribute and the controller uses the Drive Power
Structure Axis ID to verify matching power structure associated with each axis.
See also
Module Configuration Attributes on page 639
Module Feedback Port Attributes on page 656
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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. 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 module. In such an implementation, the
controller need only apply the Module Class attribute value for one of the axis
instances to configure the corresponding Motion Device Axis Object Class
attribute of the device.
Controller Update Delay High Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional Set SINT 4 1 10 # of Controller Update Periods
Represents the high limit delay threshold for a Controller to Device (C-to-D)
Connection update. This delay is specified in units of Controller Update Periods.
Exceeding this limit results in a Control Connection Update Fault.
Controller Update Delay Low Limit
Usage Access T Data Default Min Max Semantics of Values
Type
Optional Set SINT 2 1 10 # of Controller Update Periods
Represents the low limit delay threshold allowed for a Controller to Device
(C-to-D) Connection update. This delay is specified in units of Controller
Update Periods. Exceeding this limit results in a Control Connection Update
Alarm.
Sync Threshold
Usage Access T Data Default Min Max Semantics of Values
Type
Optional Set DINT 10000 1 109 Nanoseconds
Default: device dependent
minimum value
Determines the threshold for the Observed Variance of System Time below which
the Motion Device Axis Object is considered synchronized. The Group_Sync
service uses this as a criterion for a successful response.
See also
Module Axis Attributes on page 642
Module Configuration Attributes on page 639
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Chapter 5 Module Configuration Attributes
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. This is
generally enforced by configuration software.
If the value for a given Module Configuration attribute is not the same for each
axis instance of the device, the Module Configuration attribute value for instance
1 determines the configuration of the device component.
Device Power Structure Axis ID
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D Set DINT[8] [] = 0 - - Array of power structure IDs used
to verify if the user selected
power structure for each axis
instance of a multi-axis drive
matches that of the drive's actual
power structure.
[ Axis 1 ID,
Axis 2 ID,
Axis 3 ID,
Axis 4 ID,
Axis 5 ID,
Axis 6 ID,
Axis 7 ID,
Axis 8 ID ]
The element values of this array represent an ID assigned by the drive vendor that
identifies the power structure associated to a given axis instance. This allows
different power structures to be applied to specific axis instances of a multi-axis
drive. By contrast, if power structure hardware is the same for all axis instances of
the drive (excluding master feedback axes) the power structure can be identified by
simply using the Drive Power Structure Class ID attribute. For multi-axis drives,
the Drive Power Structure Axis ID can be included as part of the data segment in
the CIP Motion connection’s Forward Open service to confirm that the power
structure for a given axis instance matches the configuration in the controller. The
indexed elements of this array correspond to axis instances 1 thru 8. Individual
elements of this attribute are only applicable to axis instances whose associated
Inverter Support bit is set. Array elements that are not applicable are set to 0. Axis
instances with power structures that are not configured are set to 0, indicating to
the drive that the Drive Power Structure Axis ID for these axis instances do not
need to be checked.
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Module Configuration Attributes Chapter 5
PWM Frequency
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D Set UINT[8] [] = 0 [] = 0 [] = 216 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,
Axis 7 PWM Freq,
Axis 8 PWM Freq ]
This 8-element array sets the carrier frequency for the Pulse Width Modulation
output to the motor. Drive derating is required at higher PWM frequencies due to
switching losses. Current loop update time is tied directly to the PWM frequency
so loop performance generally increases with increasing PWM rate. Note that each
drive instance in a multi-axis drive module can have an independently configured
PWM frequency. The indexed elements of this array correspond to axis instances
1 thru 8. Individual elements of this attribute 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.
Bus Configuration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set USINT[8] 0 - - Enumeration:
0 = Standalone
1 = Shared AC/DC
2 = Shared DC
3 = Shared DC - Non CIP
Converter
4 = Shared DC/DC
5 - 255 = Reserved
This 8-element array of enumerated selections specifies how associated axis
instances of the device use the DC bus. Configure up to 8 axis instances using the
array elements of the attribute starting with axis instance 1 and ending with axis
instance 8.
• Standalone specifies that DC Bus power supplied by the converter section of
this axis instance is applied only to the inverter power structure of this axis.
Do not include an axis instance in a bus sharing group.
• Shared AC/DC specifies the converter associated with this CIP Motion
device axis instance supplies and shares DC Bus power with other axis
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Chapter 5 Module Configuration Attributes
instances and with other drives. This may result in de-rating of the
converter's continuous current rating when there are multiple Shared
AC/DC converter devices paralleled in a bus sharing group. Shared
AC/DC axes generally participate in a bus sharing group.
• Shared DC specifies that this drive axis instance 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 axes generally
participate in a bus sharing group.
• Shared DC - Non CIP Converter specifies that this drive axis instance 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. A drive configured for "Shared DC - Non CIP Converter" is
responsible for communicating the state of the external converter to the
control system as if the external converter were integrated with the drive.
Specifically, this communication includes the Bus Up and DC Bus Unload
status bits reflecting the current state of associated external converter.
Shared DC - Non CIP Converter axes generally participate in a bus sharing
group.
• Shared DC/DC specifies that the converter associated with this CIP
Motion device supplies and shares DC bus power with other Shared DC
devices. DC/DC converters may convert input DC bus power from a
Shared AC/DC converter to a different DC Bus output voltage level to
supply one or more Shared DC drives. It may also simply distribute DC bus
power from a Shared AC/DC converter to multiple Shared DC drives
without any conversion. A Shared DC/DC converter has a unique
capability in that it can be both a bus master for a bus group and a bus slave
in a different bus group. Shared DC/DC axes generally participate in a bus
sharing group.
Bus Voltage Select
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set USINT 0 - - Enumeration:
0 = High (115V, 230V, 460V)
1 = Low (100V, 200V, 400V)
2 - 255 = (reserved)
This value indicates the expected bus voltage level of the drive application. High
bus voltage selection is usually associated with drive running on the North
American power grid, when operating in Europe a Low Bus Voltage selection
would be appropriate. This parameter can be used to compensate for these
different bus voltage levels in the current loop.
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Bus Regulator Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set USINT[8] []=1 - - Enumeration:
0 = Disabled O)
1 = Shunt Regulator (O)
2-127 = (reserved)
128 - 255 = (vendor specific)
Rockwell Automation
128 = Adj. Frequency (O/IM)
129 = Both – Shunt first (O/IM)
130 = Both – Freq first (O/IM)
131 = Bus Follower (O)
This 8-element array controls the method of operation of the DC Bus Regulator
that addresses the regenerative over-voltage conditions that can occur when
decelerating a motor associated with a given axis instance.
• "Disabled" specifies that no regulation is applied to the DC Bus level by this
device to control regenerative energy sourced by the motor.
• "Shunt Regulator" method applies the associated shunt regulation hardware
to the DC Bus to dissipate regenerative energy through an internal or
external resistor.
When controlling Induction Motors, additional bus regulation methods are
available that don’t require a shunt regulator.
• "Adjust Frequency" method controls the output frequency of the device
relative to the speed of the motor to control the amount of regenerative
energy pumped into the DC Bus.
• "Both - Shunt first" and "Both - Freq first" methods allow for different
sequential application of shunt regulation and frequency control to be
applied to the motor.
• "Bus Follower" method indicates that the DC Bus is generated by an
external converter rather than an integral converter. No bus regulation is
applied to the DC Bus level and the drive does not generate an exception if
the DC Bus is still active when the DC Bus contactor of the integrated
converter is open. In this context, the integral converter is not connected to
AC power.
Note that each drive instance in a multi-axis drive module can have an
independently configured Bus Regulator Action. The indexed elements of this
array correspond to axis instances 1 thru 8. Array elements that are not applicable
or not configured are set to 0.
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Regenerative Power Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D Set REAL[8] []=100 []=0 []= % Motor Rated
This 8-element array limits the amount of power allowed to transfer between the
motor and the DC Bus during regenerative braking of the motor load for a given
axis instance. Since this is regenerative power, the value of the limit is negative.
Note that each drive instance in a multi-axis drive module can have an
independently configured Regenerative Power Limit. The indexed elements of this
array correspond to axis instances 1 thru 8. Individual elements of this attribute
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.
Shunt Regulator Resistor Type
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set USINT 0 - - Enumeration:
0 = Internal
1 = External
2-255 = (reserved)
This attribute defines whether an Internal or External Shunt resistor is used.
External Shunt Regulator ID
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set INT -1 -1 32767 -1 = None
0 = Custom
1-32767 = Shunt Regulator ID
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 T Data Type Default Min Max Semantics of Values
Optional - ND Set REAL 0.20 0 Kilowatts
Rockwell specific identifier for the External Shunt Regulator. A value of 0
indicates use of a custom shunt regulator that requires user configuration.
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External Shunt Pulse Power
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set REAL 0 0 Kilowatts
This attribute is used when an external shunt resistor has been configured. This
attribute value specifies the power that can be delivered to the external shunt
resistor for one second, without exceeding the rated element temperature.
There are approximations to help determine this attribute if this information is
not available from your vendor.
First approximation method, calculate 'Shunt Pulse Power' (Kilowatts) = 75,000 *
lbs, where lbs is the weight of the resistor wire element (not the weight of the
resistor).
Another method is that the thermal time constant = 'Shunt Pulse Power'
(Kilowatts) / 'Shunt Power' (Kilowatts) sometimes referred to as thermal mass.-
the time for the resistor element to reach 63% of rated temperature with applied
rated Kilowatts.
A third method for determining this value: The pulse Kilowatts for 1 second is
twice the watt rating of a 2 second pulse. In other words, the watt*sec rating is a
constant if the pulse duration is short compared to the thermal time constant of
the resistor ad is a function of the element mass.
External Bus Capacitance
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set REAL 0 0 Microfarads ( F)
This attribute represents the external DC Bus capacitance when the associated
converter or drive is acting as a Common Bus Leader Master, supplying DC Bus
power to one or more Common Bus Followers. This attribute may also be
applicable to standalone drives that allow connection to an external capacitor.
This attribute is not applicable when the Bus Regulator Action is set to Common
Bus Follower. The attribute is applicable when the Bus Regulator Action is set to
Disable or Shunt Regulator.
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External Shunt Resistance
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 0 0 Ohms
This attribute represents the resistance of the External Shunt Regulator resistor.
Bus Sharing Group
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set USINT 0 - - Enumeration:
0 = Standalone
1 = Bus Group 1
2 = Bus Group 2
3 = Bus Group 3
4 = Bus Group 4
5 = Bus Group 5
6 = Bus Group 6
7 = Bus Group 7
8 = Bus Group 8
9 = Bus Group 9
10 = Bus Group 10
11 = Bus Group 11
12 = Bus Group 12
13 = Bus Group 13
14 = Bus Group 14
15 = Bus Group 15
16 = Bus Group 16
17 = Bus Group 17
18 = Bus Group 18
19 = Bus Group 19
20 = Bus Group 20
21 = Bus Group 21
22 = Bus Group 22
23 = Bus Group 23
24 = Bus Group 24
25 = Bus Group 25
This enumerated selection indicates the Bus Sharing Group the drive is assigned
to. Physically, a Bus Sharing Group represents a collection of drives that are wired
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. Drives assigned to
other Bus Groups are, therefore, unimpacted.
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If the drive's Bus Configuration indicates Standalone operation, the only valid
enumeration for the Bus Sharing Group is Standalone.
If the drive's Bus Configuration indicates Shared AC/DC or Shared DC
operation, the drive should be assigned to a specific Bus Group. The Standalone
enumeration in this case is invalid.
If the drive supports the optional Bus Configuration attribute, the Bus Sharing
Group is required in the drive profile implementation.
Duty Select
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set USINT[8] [] = 0 - - Enumeration:
0 = Normal
1 = Heavy
2 = Light (O)
3-255 = (reserved)
[ Axis 1 Duty Select,
Axis 2 Duty Select,
Axis 3 Duty Select,
Axis 4 Duty Select,
Axis 5 Duty Select,
Axis 6 Duty Select,
Axis 7 Duty Select,
Axis 8 Duty Select ]
This 8-element array indicates the duty level of the drive application and balances
the continuous and intermittent overload capacity of the drive and motor
accordingly. Since this value is tied to a specific drive inverter and motor, the
setting can vary for each axis instance supported by a multi-axis drive module. The
indexed elements of this array correspond to axis instances 1 thru 8. Array
elements that are not applicable or configured are set to 0.
• "Normal" Duty provides nominal continuous rating at the expense of lower
overload capacity.
• "Heavy" Duty provides highest overload capacity at the expense of a lower
continuous rating.
• "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.
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Duty Select is used to determine the level of thermal protection for the motor and
the inverter during drive operation.
Converter AC Input Phasing
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set USINT 0 - - Enumeration:
0 = Three-Phase (R)
1 = Single-Phase (O)
2-255 = (reserved)
This attribute indicates whether the converter input power to AC line is
Single-Phase or Three-Phase.
Converter AC Input Voltage
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set UINT 230 0 Volts (RMS)
This value configures the drive for the intended AC line voltage applied to the
converter.
Demonstration Mode Select
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set USINT 0 0 1 Enumeration:
0 = Inactive
1 = Active
2-255 = (reserved)
Activating Demonstration Mode, or 'Demo Mode', allows the associated converter
and inverter power structures to operate using Single-Phase, 110/120 VAC,
50/60Hz, AC line input. Converter and inverter performance is significantly
limited as compared to standard operation with Demo Mode inactive. All
converter and inverter modules in a shared DC bus configuration should have the
same Demo Mode setting to avoid faulting.
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.
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Converter Overtemperature User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - NBD Set REAL 0 0 Degrees Celsius (°C)
This attribute sets the user limit for the Converter Overtemperature UL
exception.
Converter Thermal Overload User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set REAL 100 0 % Converter Rated
This attribute sets the user limit for the Converter Thermal Overload UL
exception.
Converter Ground Current User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set REAL 100 0 % Factory Limit
This attribute sets the user limit for the Converter Ground Current UL
exception.
Bus Regulator Overtemperature User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 0 0 Degrees Celsius (°C)
This attribute sets the user limit for the Bus Regulator Overtemperature UL
exception.
Bus Regulator Thermal Overload User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 100 0 % Regulator Rated
This attribute sets the user limit for the Bus Regulator Thermal UL exception.
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Chapter 5 Module Configuration Attributes
Bus Overvoltage User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 140 0 % Nominal Bus Voltage
This attribute sets the user limit for the Bus Overvoltage UL exception. Unlike the
corresponding Factory Limit, which is specified in Volts, the User Limit is based
on the percentage of Nominal Bus Voltage during operation.
Bus Undervoltage User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 0 0 100 % Nominal Bus Voltage
This attribute sets the user limit for the Bus Undervoltage UL exception. Unlike
the corresponding Factory Limit, which is specified in Volts, the User Limit is
based on the percentage of Nominal Bus Voltage during operation
Control Module Overtemperature User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - All Set REAL 0 0 Degrees Celsius (°C)
This attribute sets the user limit for the Control Module Overtemperature UL
exception.
Converter Pre-Charge Overload User Limit
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ND Set REAL 100 0 % Converter Rated
This attribute sets the user limit for the Converter Pre-Charge Overload UL
exception.
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Digital Output Configuration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - All Set USINT [8][8] []=0 - - Enumeration:
0 = Unassigned
1 = Contactor Enable
2 = Mechanical Brake
3 = Resistive Brake
4 = Regenerative Power
5 = Converter Power
6-255 = (reserved)
[ Axis 1 Output Config[8],
Axis 2 Output Config[8],
Axis 3 Output Config[8],
Axis 4 Output Config[8],
Axis 5 Output Config[8],
Axis 6 Output Config[8],
Axis 7 Output Config[8],
Axis 8 Output Config[8]]
This attribute is a 2 dimensional array of enumerated values that map configurable
digital output to specific functions for each drive axis. Each of the 8 possible axis
instances may support up to 8 configurable digital outputs. The Logix controller
distributes the Digital Output Configuration array elements to each axis instance
of the device. The Digital Output Configuration attribute in the device is defined
as a 32 element array of which only the first 8 elements are supported by this 8x8
Digital Output Configuration array definition. The remaining elements of the 32
element array are set to 0.
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Digital Input Configuration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - All Set USINT [8][8] []=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
9 = Shunt Thermal Switch OK
10 = Home & Registration
11 = Motor Thermostat OK
12 = Pre-Charge OK
13 = AC Line Contactor OK
14 = Bus Conditioner OK
15 = Converter OK
16-255 = (reserved)
[ Axis 1 Input Config[8],
Axis 2 Input Config[8],
Axis 3 Input Config[8],
Axis 4 Input Config[8],
Axis 5 Input Config[8],
Axis 6 Input Config[8],
Axis 7 Input Config[8],
Axis 8 Input Config[8]]
This attribute is a 2 dimensional array of enumerated values that map configurable
digital inputs to specific functions for each drive axis. Each of the 8 possible axis
instances may support up to 8 configurable digital inputs. The Logix controller
distributes the Digital Input Configuration array elements to each axis instance of
the device. The Digital Input Configuration attribute in the device is defined as a
32 element array of which only the first 8 elements are supported by this 8x8
Digital Input Configuration array definition. The remaining elements of the 32
element array are set to 0.
Functions that are not mapped to a digital input are not checked by the drive, and
do not generate associated exceptions or events. Associated exception actions in
this case are accepted by the device and ignored.
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DC Bus Output Voltage Set Point n
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 0 0 Volts
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 Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 0 0 % DC Bus Voltage Set Point n
This attribute sets the User Limit for the Bus Overvoltage UL exception
associated with the DC Bus output of DC converter power structure instance n
when supporting multiple converter power structure generated DC Bus outputs
per axis object instance. Unlike the corresponding Factory Limit, which is
specified in Volts, the User Limit is based on percent of the corresponding DC
Bus Voltage Set Point n during operation.
This attribute is only applicable to DC Converter Types.
Bus Output Undervoltage User Limit n
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD Set REAL 0 0 100 % Bus Voltage Set Point n
This attribute sets the User Limit for the Bus Undervoltage UL exception
associated with the DC Bus output of DC converter power structure instance n
when supporting multiple converter power structure generated DC Bus outputs
per axis object instance. Unlike the corresponding Factory Limit, which is
specified in Volts, the User Limit is based on percent of the corresponding Bus
Voltage Set Point n during operation.
This attribute is only applicable to DC Converter Types.
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See also
Standard Exceptions on page 623
Module Feedback Port Attributes on page 656
Module Configuration Attributes on page 639
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.
Feedback Port Select
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E Set USINT[8][4] [] = 0 - - Enumeration:
0 = Unused
1 = Port 1
2 = Port 2
3 = Port 3
4 = Port 4
5 = Port 5
6 = Port 6
7 = Port 7
8 = Port 8
9 = Port 9
10 = Port 10
11 = Port 11
12 = Port 12
13-255 = Reserved
This attribute is organized as 8x4 array with 8 corresponding to the maximum
number of axes supported by a given drive device module and 4 representing the
number of logical feedback channels per axis. The 8x4 indexed array elements of
this array correspond to axis instances 1 thru 8 and feedback channels 1 thru 4,
respectively. The individual elements of this array are enumerated values
associated with the 'Feedback n Port Select' attribute in the Motion Device Axis
Object. The controller's module interface function uses the Feedback Port Select
information to set the Feedback n Port Select attributes for each axis instance of
the CIP Motion device.
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Feedback Card Type
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E Set USINT[8][4] [] = 0 - - Feedback Card ID#
AOP
This attribute is organized as 8x4 array with 8 corresponding to the maximum
number of axes supported by a given drive device module and 4 representing the
number of logical feedback channels per axis. The individual elements of this array
are numeric identifiers associated with the specific feedback interface hardware
assigned to this feedback port. The list of supported Feedback Types is determined
by the feedback interface hardware selection. Configuration software uses this
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 Interface Types on page 415
Module Timing Attributes on page 657
Module Configuration Attributes on page 639
Module Timing Attributes The following attributes configure various time related aspects of CIP Motion
device.
Time Sync Support
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Set USINT 2 - - Enumeration:
FW 0 = No sync support
1 = Low quality
2 = High quality
3-255 = (reserved)
Controller firmware only enumerated parameter (does not go to the drive) which
reflects the time synchronization capability of the device.
• No Sync: This enumeration indicates that the device does not support CIP
Sync time synchronization and therefore cannot interpret or generate time
stamps.
• Low Quality: This enumeration indicates that the device has a low quality
implementation of CIP Sync time synchronization protocol. Latency
associated with the software time sync algorithm limits time stamp accuracy
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Chapter 5 Module Configuration Attributes
to no better than 10 microseconds (µsec). Fine interpolation is not
recommended for this time sync implementation. Low Quality time
synchronization is sufficient for Fault and Alarm event logging.
• High Quality: This enumeration indicates that the device has a high quality
implementation of CIP Sync time synchronization protocol resulting in
very accurate time stamping (better than 10 µsec). High Quality time
synchronization is appropriate for fine interpolation and registration
functionality.
Time Diagnostics
Usage Access T Data Type Default Min Max Semantics of Values
Required - All Set BYTE 0 - - Bitmap:
FW 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.
• Enable Time Statistics - enable timing diagnostic data.
• Reset Transmission Statistics - when the controller sees this bit set to a one
it will reset transmission statistics and then clear the bits.
Position Loop Device Update Period
Usage Access T Data Type Default Min Max Semantics of Values
Required - D Set INT - - Microseconds
Used to determine setting of Interpolation Control when in position loop mode.
Velocity Loop Device Update Period
Usage Access T Data Type Default Min Max Semantics of Values
Required - D Set INT - - Microseconds
Used to determine setting of Interpolation Control when in velocity loop mode.
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Torque Loop Device Update Period
Usage Access T Data Type Default Min Max Semantics of Values
Required - D Set INT - - Microseconds
Used to determine setting of Interpolation Control when in torque loop mode.
See also
Motion Control Modes on page 20
Module Support Attributes on page 659
Module Configuration Attributes on page 639
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. These parameters are not attributes of any object and
are not sent to the CIP Motion device.
Number of Configured Axes
Usage Access T Data Type Default Min Max Semantics of Values
Required - All SINT 2 0 8 # of axes
AOP
Configuration software only parameter (does not go to the device), representing
the number of axes in this device configured for use.
Inverter Support
Usage Access T Data Type Default Min Max Semantics of Values
Required - All SINT 1 - - Bitmap:
AOP 0: Axis 1 Inverter
1: Axis 2 Inverter
2: Axis 3 Inverter
3: Axis 4 Inverter
4: Axis 5 Inverter
5: Axis 6 Inverter
6: Axis 7 Inverter
7: Axis 8 Inverter
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Configuration software only bitmapped attribute (does not go to the device),
where each bit determines if an axis instance supports an Inverter power structure.
This attribute impacts Inverter specific attributes, such as PWM Frequency and
Duty Select.
Number of Configurable Inputs
Usage Access T Data Type Default Min Max Semantics of Values
Optional - All USINT[8] [] = 0 0 8 Number of inputs
FW* [ Axis 1 Inputs,
Axis 2 Inputs,
Axis 3 Inputs,
Axis 4 Inputs,
Axis 5 Inputs,
Axis 6 Inputs,
Axis 7 Inputs,
Axis 8 Inputs]
Firmware only parameter (does not go to the device) that controls how much of
the Digital Input Configuration array is sent to the device for a given axis instance.
Important: This attribute is only needed if Digital Input Configuration is supported.
The number of configurable inputs can vary for each axis instance supported by a
multi-axis drive module. The indexed elements of this array correspond to axis
instances 1 thru 8. Array elements that are not applicable or configured are set to
0.
Source of Configurable Inputs
Usage Access T Data Type Default Min Max Semantics of Values
Optional - All USINT[8] [] = 0 0 8 Number of inputs
FW* [ Axis 1 Input Source,
Axis 2 Input Source,
Axis 3 Input Source,
Axis 4 Input Source,
Axis 5 Input Source,
Axis 6 Input Source,
Axis 7 Input Source,
Axis 8 Input Source]
Firmware only parameter (does not go to the device) that specifies the axis
instance that sources the configurable digital inputs for a given axis of the device.
Important: This attribute is only needed if Digital Input Configuration is supported.
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While axis instances generally provide their own set of configurable inputs, in
some cases axis instances, like feedback only axis instances, utilize the digital inputs
from another axis instance. The Source of Configurable Inputs element can be
used to identify another axis instance as the source for its digital inputs. The
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 on page 642
Module Configuration Attributes on page 639
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Index
frequency control signal 281
A general feedback info 432
Acceleration Control Behavior 31 general feedback signal 433
attribute conversion from SERCOS 120 general linear motor 509
Drive supported optional attributes 123 general motor 511
attribute units 96 general permanent magnet motor 519
attributes general rotary motor 522
ac line condition 597 guard safety 551
acceleration control configuration 264 guard safety status 552
APR fault 376 hookup test configuration 363
auto-tune configuration 354 hookup test result 364
axis exception action 382 identify motion axis attributes based on device function codes 102
axis exception action configuration 378 induction motor 524
axis info 312 inertia test configuration 366
axis safety status 537 inertia test result 370
axis statistical 314 interior permanent magnet motor 529
CIP axis status 315 intialization faults 408
Command Generation Behavior 34 linear PM motor 526
command generator configuration 266 load transmission and actuator 532
command generator signal 270 module axis 642
command reference generation 266 module class 641
configuration fault 386 module configuration block 639
converter ac line configuration 594 module feedback port 656
converter ac line monitoring 588 module support 659
converter ac line source configuration 596 module timing 657
converter bus voltage control configuration 604 module/node fault and alarm 411
converter bus voltage control signal 607 motion control configuration 433
converter control mode 601 motion control interface 440
converter current control configuration 613 motion control signal 448
converter current control signal 615 motion control status 459
converter current reference configuration 610 motion database storage 471
converter current reference signal 612 motion dynamic configuration 475
converter output 623 motion homing configuration 479
converter reactive power control 621 motion planner configuration 490
converter types 600 motion planner output 495
current control configuration 271 motion scaling 496
current control signal 276 motor test result 373
DC bus control 579 position loop configuration 284
drive general purpose I/O 334 position loop signal 281
drive output 341 power and thermal management configuration 342
event capture 332 power and thermal managment status 344
exception factory limit info 392 required vs optional axis attributes 99
exception user limit configuration 401 rotary PM motor 534
exception, fault and alarm 405 standard initialization 409
feedback configuration 418 standard start inhibits 576
frequency control configuration 279 start inhibits 576
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Index
stopping and braking 556 M
torque/force control configuration 288
torque/force control signal 298 Motion Control Axis Behavior 57
velocity loop configuration 299
velocity loop signal 307 N
No Control Mode 26
B
Behavior models 31 P
Acceleration Control Behavior 31
Position Control Mode 21
Command Generation Behavior 34
Current Control Behavior 41
Event Capture Behavior 44 R
Fault and Alarm Behavior 47
required vs optional axis attributes 99
Motion Control Axis Behavior 57
Rockwell Automation specific initialization 409
Rockwell Automation specific start inhibits 578
C
CIP data types 97 T
Control Methods 27
Torque Control Mode 26
No Control Mode 26
Position Control Mode 21
Torque Control Mode 26 V
Velocity Control Mode 23
Velocity Control Mode 23
Current Control Behavior 41
D
device function codes 97
Drive supported optional attributes 123
E
Event Capture Behavior 44
exceptions 623
F
Fault and Alarm Behavior 47
I
identify motion axis attributes based on device function codes 102
Integrated Motion Axis Control Modes and Methods 20
664 Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
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the code to route your call directly to a technical
support engineer.
Literature Library Installation Instructions, Manuals, Brochures, http://www.rockwellautomation.com/global/literature-library/overview.page
and Technical Data.
Product Compatibility and Download Get help determining how products interact, http://www.rockwellautomation.com/global/support/pcdc.page
Center (PCDC) check features and capabilities, and find
associated firmware.
Documentation feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document, complete the
How Are We Doing? form at http://literature.rockwellautomation.com/idc/groups/literature/documents/du/ra-du002_-en-e.pdf
Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page.
Allen-Bradley, Rockwell Automation, and Rockwell Software are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Rockwell Automation Publication MOTION-RM003K-EN-P - July 2019
Supercedes Publication MOTION-RM003J-EN-P - November 2018 Copyright © 2019 Rockwell Automation Technologies, Inc. All Rights Reserved. Printed in the U.S.A.
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