Reference Manual

Integrated Motion on the EtherNet/IP Network

Product Families 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.

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).

Allen-Bradley, CompactLogix, ControlLogix, Integrated Architecture, Kinetix, Logix5000, PowerFlex, Rockwell Automation, Rockwell Software, RSLogix, RSLogix 5000, Studio 5000, and Studio 5000 Logix Designer are
trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.
 Summary of Changes

This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.

New and Updated These tables contain the major changes that are made in this revision.
Information Table 1 - General Summary of Changes
Topic Page
Updates to attributes Throughout

Table 2 - Summary of Changes for CIP Axis Attributes

Topic Page
Added Axis I/O Status attribute 85
Added Axis I/O Status - MFG attribute 86
Added Axis Status attribute 86
Updated Table 53 descriptions 243
Added Digital Input Configuration attribute 278
Added Digital Output Configuration attribute 278

Table 3 - Summary of Changes for Drive Supported Optional Attributes

Topic Page
Added Table 95 for PowerFlex 527 Drive Module Optional Attributes 387
Added the following attributes to Table 96: 393, 394, 397, 398, 399
• Auto Sag Slip Increment
• Auto Sag Start
• Axis I/O Status
• Axis I/O Status - MFG
• Axis Status
• Brake Prove Ramp Time
• Brake Slip Tolerance
• Brake Test Torque
• Motor Phase Loss Limit
• Proving Configuration
• Zero Speed
• Zero Time
Added the following attributes to Table 97: 400, 400, 404, 406
• Auto Sag Slip Increment
• Auto Sag Start
• Axis I/O Status
• Axis I/O Status - MFG
• Axis Status
• Brake Prove Ramp Time
• Brake Slip Tolerance
• Brake Test Torque
• Motor Phase Loss Limit
• Proving Configuration
• Zero Speed
• Zero Time

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 3

Summary of Changes

Notes:

4 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Table of Contents

Preface Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Where to Find Sample Projects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 1
Integrated Motion Axis Control Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Modes Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Axis Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Control Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
No Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Closed Loop Position Control Method . . . . . . . . . . . . . . . . . . . . . . . . 19
Velocity Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Closed Loop Velocity Control Method . . . . . . . . . . . . . . . . . . . . . . . . 20
Torque Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Required Versus Optional Axis Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . 22
Required Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Conditional Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Device Function Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Device Function Code Combinations. . . . . . . . . . . . . . . . . . . . . . . . . . 26
Identify Motion Axis Attributes Based on Device Function Codes . . . 27
Motion Instruction Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Chapter 2
CIP Axis Attributes Accessing Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Attribute Access Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Access Attributes from Ladder Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Access with a MSG (a message) Instruction . . . . . . . . . . . . . . . . . . . . . 52
Input Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Tag Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Attribute and Parameter Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Accessing Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Cyclic Read and Cyclic Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Motion Control Axis Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Interpreting the Attribute Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Attribute Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Motion Control Interface Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Motion Control Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . . 67
Motion Control Signal Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
No Control (feedback only) Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Motion Control Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Axis Statistical Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Motion Planner Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . . 90
Motion Database Storage Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

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Table of Contents

Motion Scaling Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Travel Range Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Fractional Unwind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Motion Resolution Value Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Motion Homing Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . 104
Motion Dynamic Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . 111
Motor Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
General Motor Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Feedback Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Feedback Interface Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Feedback Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Feedback Accumulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Commutation Unwind and Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Scaling Accumulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Feedback Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Velocity and Acceleration Feedback Scaling . . . . . . . . . . . . . . . . . . . . 148
Event Capture Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Event Capture Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Event Input Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Event Latches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Event Time Stamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Command Reference Generation Attributes. . . . . . . . . . . . . . . . . . . . . . . 154
Command Generation Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Command Data Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Command Fine Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Command Ramp Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Feedforward Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Command Notch Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Control Mode Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Position Control Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Closed Loop Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Position Feedback Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Position PI Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Velocity Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Position Loop Output Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Open Loop Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Basic Volts/Hertz Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Sensorless Vector Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Velocity Droop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Velocity Control Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Closed Loop Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Velocity Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Velocity Feedback Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Velocity Error Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Velocity Gains. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Negative Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

6 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

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Velocity Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Acceleration Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Acceleration Control Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Acceleration Limiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Acceleration Feedback Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Acceleration and Torque Estimates . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Load Observer Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Torque Control Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Torque Input Sources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Acceleration to Torque Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Static Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Sliding Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Viscous Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Lead-Lag Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Low Pass Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Notch Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Torque Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Torque to Current Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Cogging Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Inertia Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Current Control Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Current Control Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Current Vector Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Voltage Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Current Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Motor Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Frequency Control Signal Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Frequency Control Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . 215
Drive Output Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Stopping and Braking Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Stopping Sequences. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Category 0 Stop Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Category 1 Stop Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Category 2 Stop Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
DC Bus Control Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Power and Thermal Management Status Attributes . . . . . . . . . . . . . . . . 232
Power and Thermal Management Configuration Attributes . . . . . . . . 235
CIP Axis Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Module/Node Fault and Alarm Attributes . . . . . . . . . . . . . . . . . . . . . . . . 245
Configuration Fault Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Exception, Fault, and Alarm Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Standard Exceptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Rockwell Automation Specific Exceptions. . . . . . . . . . . . . . . . . . . . . 257
Feedback Only Standard Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . 258

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Exception Factory Limit Info Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Exception User Limit Configuration Attributes. . . . . . . . . . . . . . . . . . . . 264
Axis Exception Action Configuration Attributes. . . . . . . . . . . . . . . . . . . 266
Initialization Faults Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Standard Initialization Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Rockwell Automation Specific Initialization Faults . . . . . . . . . . . . . 271
Start Inhibit Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Standard Start Inhibits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Rockwell Automation Specific Start Inhibit. . . . . . . . . . . . . . . . . . . . 273
APR Fault Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Standard APR Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Rockwell Automaton Specific APR Fault Table . . . . . . . . . . . . . . . . 276
Axis Info Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Drive General Purpose I/O Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Guard Status Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Axis Safety Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Drive Commissioning Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Motion Control Axis Behavior Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Fault Reset State Transition Precedence . . . . . . . . . . . . . . . . . . . . . . . 310
State Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Off State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Self Test State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Initializing State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Pre-charge State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Stopped State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Starting State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Running State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Testing State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Start Inhibited State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Stopping State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Aborting State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Faulted State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Shutdown State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
No Device State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Not Grouped State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Axis Inhibited State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Configuration State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Synchronizing State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Waiting for Group State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Fault and Alarm Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Exception Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Start Inhibit Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
CIP Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
CIP Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

8 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Table of Contents

Appendix A
Module Configuration Attributes Module Configuration Block Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Module Class Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Module Axis Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Module Feedback Port Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Module Timing Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Module Support Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

Appendix B
Attribute Conversion from SERCOS to
Integrated Motion on the Ethernet/
IP Network

Appendix C
Drive Supported Optional Attributes Kinetix 350 Drive Module Optional Attributes. . . . . . . . . . . . . . . . . . . . 346
Kinetix 5500 Drive Module Optional Attributes . . . . . . . . . . . . . . . . . . 353
Kinetix 5700 Drive Module Optional Attributes . . . . . . . . . . . . . . . . . . 359
Kinetix 6500 Drive Module Optional Attributes . . . . . . . . . . . . . . . . . . 381
PowerFlex 527 Axis Instance Optional Attributes . . . . . . . . . . . . . . . . . 387
PowerFlex 755 Standard Drive Module Optional Attributes. . . . . . . . 393
PowerFlex 755 Safety Drive Module Optional Attributes. . . . . . . . . . . 399

Appendix D
MSG Instruction Access Only
Attributes

Appendix E
History of Changes MOTION-RM003F-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
MOTION-RM003E-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
MOTION-RM003D-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
MOTION-RM003C-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
MOTION-RM003B-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
Glossary
Index

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 9

Table of Contents

Notes:

10 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Preface

Introduction Use this manual to reference descriptions of the AXIS_CIP_DRIVE attributes

and the Studio 5000 Logix Designer® application Control Modes and Methods.
The Control Modes chapter provides a reference for the Control Modes and
Control Methods. The chapter provides tabled information that explains when
you can use an axis attribute in an individual control mode.
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.
The Axis Attributes chapter contains the following information:
• Detailed attribute definitions
• Configurations
• Status
• Faults
Each attribute is in a table, which is organized with the following information:
• Usage
• Access
• Data type
• Default, minimum, and maximum values
• Semantics of values

Who Should Use This Manual This document provides a programmer with details about the
AXIS_CIP_DRIVE motion control axis attributes and the Logix Designer
application Control Modes.

Where to Find Sample There are three ways to find the sample projects:
Projects • Studio 5000 Logix Designer® Main Dialog Box

• Logix Designer Start Page (ALT+F9)

• Logix Designer Help Menu

The Rockwell Automation sample project’s default location is:

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 11

Preface

C:\Users\Public\Documents\Studio 5000\Samples\ENU\V21\Rockwell
Automation
There is a PDF file that is named Vendor Sample Projects on the Start Page that
explains how to work with the sample projects.
Free sample code is available at: http://samplecode.rockwellautomation.com/.

12 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Preface

Additional Resources These resources contain information about related products from Rockwell
Automation.
Resource Description
CompactLogix™ 5370 Controllers User Manual, Describes the necessary tasks to install, configure, program, and operate a CompactLogix 5370 controller.
publication 1769-UM021
ControlLogix® System User Manual, publication 1756-UM001 Describes the necessary tasks to install, configure, program, and operate a ControlLogix system.
EtherNet/IP Network Configuration User Manual, Describes Ethernet network considerations, networks, and setting IP addresses.
publication ENET-UM001
Integrated Architecture® and CIP Sync Configuration Application Provides detailed configuration information on CIP Sync Technology and time synchronization.
Technique, publication IA-AT003
Integrated Motion on the EtherNet/IP Network Configuration and Describes how to configure an integrated motion application and to start up your motion solution by using the
Startup User Manual, publication MOTION-UM003 ControlLogix system.
Kinetix® 6200 and Kinetix 6500 Modular Mutli-axis Servo Drives Provides information on how to install, configure, and troubleshoot applications for your Kinetix 6200 and
User Manual, publication 2094-UM002 Kinetix 6500 servo drive systems.
Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Provides information on wiring, configuring, and troubleshooting the safe-speed features of your
Reference Manual, publication 2094-RM001 Kinetix 6200 and Kinetix 6500 drives.
Kinetix 6200 and Kinetix 6500 Safe Torque Off Safety Reference Provides information on wiring, configuring, and troubleshooting the safe torque-off features of your
Manual, publication 2094-RM002 Kinetix 6200 and Kinetix 6500 drives.
Kinetix 5500 Servo Drives User Manual, publication 2198-UM001 Provides information on install, configure, and troubleshoot applications for your Kinetix 5500 drive.
Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 Provides information on install, configure, and troubleshoot applications for your Kinetix 5700 drive.
Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, Provides information on install, configure, and troubleshoot applications for your Kinetix 350 Single-axis
publication 2097-UM002 EtherNet/IP Servo drive.
Kinetix Safe-off Feature Safety Reference Manual, Provides information on wiring and troubleshooting your Kinetix 6000 and Kinetix 7000 servo drives
publication GMC-RM002 with the safe torque-off feature.
Logix5000™ Motion Controllers Motion Instructions Manual, Provides a programmer with details about motion instructions for motion control.
publication MOTION-RM002
Logix5000 Controllers Common Procedures, Provides detailed and comprehensive information about how to program a Logix5000™ controller.
publication 1756-PM001
Logix5000 Controllers General Instructions Reference Manual, Provides a programmer with details about general instructions for a Logix-based controller.
publication 1756-RM003
Logix5000 Controllers Advanced Process Control and Drives Provides a programmer with details about process and drives instructions for a Logix-based controller.
Instructions Reference Manual, publication 1756-RM006
Motion Coordinate System User Manual, Provides details on how to create and configure a coordinate motion system.
publication MOTION-UM002
PowerFlex® 527 Adjustable Frequency AC Drive User Manual, Provides information that is needed to install, start-up, and troubleshoot PowerFlex 527-Series Adjustable
publication 520-UM002 Frequency AC drives.
PowerFlex 750-Series AC Drives Programming Manual, Provides information that is needed to install, start-up, and troubleshoot PowerFlex 750-Series Adjustable
publication 750-PM001 Frequency AC drives.
PowerFlex 755 Drive Embedded EtherNet/IP Adapter User Manual, Provides information on how to install, configure, and troubleshoot applications for the PowerFlex 755 Drive
publication 750COM-UM001 Embedded EtherNet/IP adapter.
Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell Automation® industrial system.
publication 1770-4.1
Product Certifications website, Provides declarations of conformity, certificates, and other certification details.
http://www.rockwellautomation.com/global/certification/
overview.page
Network specifications details, http://www.odva.org ODVA, is the organization that supports network technologies that are built on the Common Industrial Protocol
(CIP) — DeviceNet, EtherNet/IP, CompoNet, and ControlNet.

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 13

Preface

You can view or download publications at

http://www.rockwellautomation.com/literature/. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.

14 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Chapter 1

Integrated Motion Axis Control Modes

Use this chapter to get information about Control Modes, Control Methods, and
when you can use an axis attribute when in an individual Control Mode.

Topic Page
Control Modes 15
Control Methods 16
Position Control Mode 19
Velocity Control Mode 20
Torque Control Mode 21
Required Versus Optional Axis Attributes 22
Device Function Codes 26
Identify Motion Axis Attributes Based on Device Function Codes 27
Motion Instruction Compatibility 44

Control Modes Motion Control Modes are organized around the idea 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 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 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
lets you differentiate between these control properties. This is useful when the
relationship between them is not static, such as when inertia/mass changes with
position or time, or when the torque/force constant changes due to temperature
change or motor flux variation.
Control Modes:
• 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: Frequency Control Method

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Chapter 1 Integrated Motion Axis Control Modes

Control Methods

Within this basic 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 Methods that is related to the
Control Modes are listed in Table 1 on page 16.

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.

Table 1 - Control Method Field 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.i
3…127 - Reserved -
128…255 - Vendor Specific -

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 Integrated Motion Axis Control Modes Chapter 1

Axis Configuration

The Control Mode and Control Method are derived by the Axis Configuration
according to this table.

Table 2 - Valid Control Modes

Axis Configuration Valid Control Modes

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 the Control Mode diagrams for each axis configuration starting
on page 18.

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 diagrams without loss of generality.

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Chapter 1 Integrated Motion Axis Control Modes

No Control Mode The Motion Device 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 an Integrated Motion on the EtherNet/IP network Drive device is
serving as a master feedback source to the rest of the control system. This mode
could also apply to integrated CIP Motion Encoder device types where the CIP
Motion interface is applied directly to an Encoder.

In this ‘No Control’ mode of operation, no setpoint value is supplied to the CIP
Motion device via the cyclic data connection, but actual position, velocity, and
acceleration can be supplied by the device to the controller via the cyclic data
channel, if applicable. The No Control mode for Feedback Only functionality is
illustrated in this diagram.

Figure 1 - No Control (Feedback Only)

Application Program
Application Program
Controller
Controller
MotionPlanner
Motion Planner

Actual Position
Actual Position

Feedback Interface
Feedback Interface Integrated
CIP MotionMotion Device
Device

Feedback Feedback
FeedbackDeviceDevice
Feedback

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.

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 Integrated Motion Axis Control Modes Chapter 1

Position Control Mode In Position Control application mode, either the application control program
(command execution function) or the Motion Planner (move trajectory control
function) provides a setpoint value to the integrated motion device via the cyclic
data connection. The Position Control method can be either open loop or closed
loop.

Closed Loop Position Control Method

A motor control device that is 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
Figure 2. The presence of the torque/current control loop sometimes results in
this kind of drive being referred to as a vector drive.

Figure 2 - Closed Loop Position Control Method

Application Program
Application Program
Controller
Controller
Motion
MotionPlanner
Planner

Command
Command Position
Position Actual Position
Actual Position

Position Control
Position Control
Integrated
CIP MotionMotionDevice
Device
VelocityControl
Velocity Control

Torque/Current
Torque/Current Control

Motor ++Feedback
Feedback (opt) Actuator
Actuator
Motor (opt)

A feedback device for this configuration is required to achieve good positioning

accuracy. The feedback device can also be used to return Actual Velocity and
Actual Acceleration data to the controller via the cyclic data connection.

In addition to Command Position, the controller can pass Command Velocity

and Command Acceleration for the purposes of forward control.

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Chapter 1 Integrated Motion Axis Control Modes

Velocity Control Mode In Velocity Control application mode, the application control program and
Motion Planner provide a setpoint value to the integrated motion device via the
cyclic data connection. The Velocity Control method can be either open loop or
closed loop.

Closed Loop Velocity Control Method

A motor control device that is 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.

Figure 3 - Closed Loop Velocity Control Method

Application Program
Application Program
Controller
Controller
Motion
MotionPlanner
Planner

Command
Command Position
Position Actual
ActualPosition/Velocity
Position/Velocity

Velocity Control
Velocity Control
Integrated Motion Device
CIP Motion Device
Torque/Current
Torque/Current Control

Motor++Feedback
Motor Feedback (opt)
(opt) Actuator
Actuator

A feedback device for the velocity loop drive configuration is optional. You can
achieve tighter speed regulation when by using a feedback device, particularly at
low speed. When the feedback device is included, it can be used to return actual
position, velocity, and acceleration data to the controller via 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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 Integrated Motion Axis Control Modes Chapter 1

Torque Control Mode In Torque Control application mode, the application control program or the
Motion Planner provide torque setpoint values to the device via 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.

Figure 4 - Torque Control Mode

Application
Application Program
Program
Controller
Controller
MotionPlanner
Motion Planner

Command
Command Torque
Torque Actual
ActualTorque
Torque

Torque/Current Control Integrated Motion Device

Torque/Current Control CIP Motion Device

Motor++Feedback
Feedback (opt) Actuator
Actuator
Motor (opt)

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 via the cyclic data connection.

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Chapter 1 Integrated Motion Axis Control Modes

Required Versus Optional In the sections that follow, attributes and services are defined as Required or
Optional. Optional attributes and services may or may not be supported in the
Axis Attributes 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,
see Device Function Codes on page 26.

Required Implementation
If an attribute is marked as Required for a given Device Function Code, then the
controller implementation, including configuration and programming software,
supports 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 an integrated motion
device that supports Velocity Loop operation.

In some cases, an instance 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.

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 Condition Implementation column would show
‘R-PM’ and ‘O-IM’.

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 Condition Implementation column would show ‘R-Co’
(Controller only) and ‘O-Dr’ (Drive replicated).

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.

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 Integrated Motion Axis Control Modes Chapter 1

For some attributes, there are conditional implementation rules that extend
beyond the Device Function Code. These rules are specified in the Conditional
Implementation column in Table 3. In the following example, the attribute PM
Motor Resistance is (R) required in the implementation if the device supports
Frequency Control, Position Control, 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.

Table 3 - Example Attribute with Control Modes

Attribute ID Access Rule Attribute N - No Control O C - Closed Loop C/D Conditional Implementation
Control
B E F P V T
1327 Set PM Motor Resistance R R R R Yes PM Motor only

• B - Bus Power Converters (No Control Mode, No Control Method)

• E - Encoder, Feedback Only (No Control Mode, No Control Method)
• P - Position Loop (Position Control Mode, Closed Loop Vector Control
Method)
• 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)
• C/D = Controller/Device Replicated Attribute

See Device Function Codes on page 26 for more information.

PM Motor Resistance
Usage Access Data Type Default Min Max Semantics of Values

Required SSV(1) REAL 0 0 - Ohms

DB

The PM Motor Resistance attribute is a float that specifies the phase-to-phase, resistance of a permanent magnet motor.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Attributes that have Optional enumerations or bit maps are designated so in the
Condition Implementation column as ‘O-Enum’, or ‘O-Bits’. Detail about
Optional and Required support for the individual enums 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.

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Chapter 1 Integrated Motion Axis Control Modes

The column marked Derived, the value for an attribute is determined (derived)
by the controller, that is based on the value of another attribute and therefore
follows the conditional implementation rules of that attribute. 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.

Table 4 - Conditional Implementation Key

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)
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
DSL Hiperface DSL® (feedback type)
E21 EnDat 2.1® (feedback type)
E22 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)
HD Hiperface DSL®
IM Rotary or Linear Induction Motor (motor type)
INT Integrated
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 bit mapped attribute
O-Dr Dscale O (Optional) - DR (Drive replicated attribute (controller attribute that is replicated in
drive) DScale (Motion Scaling Configuration set to Drive Scaling)
O-Enum Optional enumerations that are associated with attribute, see Required Versus Optional
Axis Attributes on page 22
P### P### refers to the related PowerFlex® drive parameter.
PM Rotary or Linear Permanent Magnet motor (SPM or IPM) (motor type)
R-Co CScale R (Required) - Co
Controller only attribute that resides only in controller
CScale, Motion Scaling Configuration set to Controller Scaling
Rotary Absolute Feedback Unit - rev; Feedback n Startup Method- absolute
Rotary Motor Rotary PM motor or Rotary Induction motor (motor type)

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 Integrated Motion Axis Control Modes Chapter 1

Table 4 - Conditional Implementation Key (Continued)

Key Description
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)

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Chapter 1 Integrated Motion Axis Control Modes

Device Function Codes Based on the variations in Control Mode, and Control Method, we can define a
set of basic Device Function Codes that help us 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 integrated motion device. This table lists
the Device Function Codes.

Table 5 - Device Function Codes, Control Modes, and Methods

Device Function Code Control Mode Control Method
B Bus Power Converters No Control Mode No Control Method
E Encoder, Feedback Only No Control Mode No Control Method
P Position Loop Position Control Mode Closed Loop Vector Control Method
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

By using combinations of these letters, we can designate a specific class of

Integrated Motion on the EtherNet/IP network devices for the purposes of
identifying applicable attributes. For example, ‘FV’ would refer to the class of all
velocity controlled drives, either vector that is controlled or frequency that is
controlled. Here are some combinations that appear so frequently that we have
defined special Device Control Function Codes for convenience.

Table 6 - Device Function Code Combinations

Device Code Combination Description
B BE All Device Functions using No Control Method
O F All Device Functions using Open Loop Control Methods. (Frequency Control)
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)
In addition to these combinations, there are many attributes that are applicable or not applicable to encoderless or
sensorless drive operation, for example, Velocity Controlled drives operating without a feedback device.
We can use Device Function Codes to specify conditional implementation rules for attributes. To accommodate these
situations, we defined the following Device Functions Codes.
E Encoder-based device operation
!E Encoderless or Sensorless device operation
All Active Control Modes that do not use a Feedback device.
C/D - Replicated

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 Integrated Motion Axis Control Modes Chapter 1

Identify Motion Axis Table 7 provides a list of all Motion Axis Attributes specific to the CIP Drive data
type. The table identifies whether the attribute is Required, Optional, or
Attributes Based on Device Conditional in implementation that is based on a Device Function Code. The C/
Function Codes D column states whether the attribute is replicated in the drive.

For information about the drive supported attributes, see Drive Supported
Optional Attributes on page 345.

TIP Each attribute name in the table is a link to its location in Chapter 2, Axis
Attributes.

For more information about the PowerFlex drive, see the PowerFlex 750-Series
AC Drives Programming Manual, publication 750-PM001. There is an appendix
that maps the PowerFlex drive parameters to their matching Integrated Motion
attribute.

For more information about the Kinetix® drive parameters, see these publications.
• Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual,
publication 2094-UM002.
• Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual,
publication 2097-UM002.
• Kinetix 5500 EtherNet/IP Servo Drives User Manual,
publication 2198-UM001.
• Kinetix 5700 Multi-axis EtherNet/IP Servo Drive User Manual,
publication 2198-UM002.

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes

ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
480 Acceleration Command O O O Yes MSG Access Only 184
483 Acceleration Feedback 1 R - R R R Yes E, MSG Access Only 184
1454 Acceleration Feedback 2 R - R R R Yes E, MSG Access Only 184
1404 +(n-1)*50 Acceleration Feedback n (General Feedback Signal) R R R R Yes E, MSG Access Only 133
452 Acceleration Feedforward Command - - R R - Yes 174
460 Acceleration Feedforward Gain - - R R - Yes 176
367 Acceleration Fine Command - - O O O Yes 154
485 Acceleration Limit - O O O O Yes 185
482 Acceleration Reference - - O O O Yes 184
481 Acceleration Trim - - O O O Yes 184
53 Actual Acceleration R R R R R 74
48 Actual Position R R R R R 72
52 Actual Velocity R R R R R 74
1376 Actuator Diameter C C C C C Yes R-Co CScale; O-Dr DScale 129
1377 Actuator Diameter Unit C C C C C Yes R-Co CScale; O-Dr DScale 129
1374 Actuator Lead C C C C C Yes R-Co CScale; O-Dr DScale 128

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
1375 Actuator Lead Unit C C C C C Yes R-Co CScale; O-Dr DScale 129
1373 Actuator Type C C C C C Yes R-Co CScale; O-Dr DScale 128
639 Ambient Temperature O O O O O Yes MSG Access Only 234
732 Analog Input 1 O - O O O O Yes 279
733 Analog Input 2 O - O O O O Yes 279
734 Analog Output 1 O O O O O Yes 279
735 Analog Output 2 O - O O O O Yes 279
201 Application Type R R R 299
164 Attribute Error Code R R R R R 250
165 Attribute Error ID R R R R R 250
873 Auto Sag Configuration O O O O O Yes 229
874 Auto Sag Slip Increment O O O O O Yes 229
876 Auto Sag Start O O O O O Yes 230
875 Auto Sag Start O O O O O Yes 230
51 Average Velocity R R R R R 73
81 Average Velocity Timebase R R R R R 103
30 Axis Configuration R R R R R O-Enum 69
12 Axis Configuration State R R R R R 64
11 Axis Data Type R R R R R 66
35 Axis Event Bits R R R R R 150
34 Axis Fault Bits R R R R R 84
19 Axis Features R R R R R O-Bits 67
106 Axis ID R R R R R 65
2 Axis Instance R R R R R 63
760 Axis Safety State O O O O O Yes 285
761 Axis Safety Status O O O O O Yes 286
763 Axis Safety Faults O O O O O Yes 287
13 Axis State R R R R R 64
33 Axis Status Bits R R R R R 83
124 Axis Update Schedule R R R R R 65
825 Backlash Compensation Window - - O - - Yes 190
423 Backlash Reversal Offset - - R - - E 190
592 Brake Test Torque O O O O O Yes 229
593 Brake Prove Ramp Time O O O O O Yes 229
594 Brake Slip Tolerance O O O O O Yes 229
576 Break Frequency - R - - - Yes 216
575 Break Voltage - R - - - Yes 215
622 Bus Configuration O O O O O 261

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
688 Bus Overvoltage Factory Limit O O O O O Yes MSG Access Only 261
704 Bus Overvoltage User Limit O O O O O 334
705 Bus Undervoltage User Limit O O O O O 334
624 Bus Regulator Action O O O O O 330
638 Bus Regulator Capacity O - O O O O Yes 234
686 Bus Regulator Overtemperature Factory Limit O O O O Yes MSG Access Only 262
702 Bus Regulator Overtemperature User Limit O O O O O 334
880 Bus Regulator Reference O O O O O Yes MSG Access Only 231
687 Bus Regulator Thermal Overload FL O O O O MSG Access Only 253
703 Bus Regulator Thermal Overload UL O O O O O 253
887 Bus Sharing Group O O O O O 332
689 Bus Undervoltage Factory Limit O O O O Yes MSG Access Only 261
623 Bus Voltage Select O O O O Yes 330
8 C2C Connection Instance R R R R R 64
7 C2C Map Instance R R R R R 64
756 CIP APR Faults C C C C Yes R-Co CScale; O-Dr DScale; E, MSG 275
Access Only
757 CIP APR Faults - Mfg C C C C Yes R-Co CScale; O-Dr DScale; E, MSG 275
Access Only
659 CIP Axis Alarms O O O O O O Yes 251
660 CIP Axis Alarms - Mfg O O O O O O Yes MSG Access Only 251
904 CIP Axis Alarms - RA O O O O O O Yes 251
672 CIP Axis Exception Action R R R R R Yes O-Enum 266
673 CIP Axis Exception Action - Mfg R R R R R Yes MSG Access Only 267
908 CIP Axis Exception Action - RA R R R R R Yes O-Enum 268
655 CIP Axis Exceptions R R R R R R Yes MSG Access Only 250
656 CIP Axis Exceptions - Mfg R R R R R R Yes MSG Access Only 250
902 CIP Axis Exceptions -RA R R R R R R Yes MSG Access Only 250
657 CIP Axis Faults R R R R R R Yes 251
658 CIP Axis Faults - Mfg R R R R R R Yes MSG Access Only 251
905 CIP Axis Faults - RA R C C C C Yes R-Co CScale; O-Dr DScale; E, MSG 251
Access Only
903 CIP Axis Faults - RA R R R R R R Yes 251
653 CIP Axis I/O Status R R R R R R Yes 243
654 CIP Axis I/O Status - Mfg R R R R R R Yes MSG Access Only 244
901 CIP Axis I/O Status - RA R R R R R R Yes 243
650 CIP Axis State R R R R R R Yes 237
651 CIP Axis Status R R R R R R Yes 238
652 CIP Axis Status - Mfg R R R R R R Yes MSG Access Only 242

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
900 CIP Axis Status - RA R R R R R R Yes 242
674 CIP Initialization Faults R R R R R R Yes 270
675 CIP Initialization Faults - Mfg R R R R R R Yes MSG Access Only 270
910 CIP Initialization Faults - RA R R R R R R Yes 270
676 CIP Start Inhibit R - R R R R Yes 272
677 CIP Start Inhibits - Mfg R R R R R Yes MSG Access Only 272
912 CIP Start Inhibits - RA R - R R R R Yes 272
617 Coasting Time Limit O O O O O 219
832 Cogging Compensation Table O O O Yes MSG Access Only 195
100 Command Acceleration - R R R - 77
768 Command Notch Filter Frequency O O Yes MSG Access Only 157
96 Command Position - R R R - 76
95 Command Torque - - - R R 76
360 Command Update Delay Offset - - R R - E 93
99 Command Velocity - R R R - 77
564 Commutation Alignment O O O Yes E; PM Motor only, O-Enum, MSG 210
Access Only
561 Commutation Offset - - R R R Yes PM Motor only, E 209
563 Commutation Polarity - - O O O Yes PM Motor only, E 210
562 Commutation Self-Sensing Current - - O O O Yes PM Motor only, AOP, E 209
N/A Configuration Bits R R R R R 328
21 Controller Update Delay High Limit O O O O O 328
22 Controller Update Delay Low Limit O O O O O 328
107 Control Method O O O O O Yes MSG Access Only 71
41 Control Method R R R R R R Yes Derived – Axis Config 71
40 Control Mode R R R R R R Yes Derived – Axis Config 70
918 Control Module Overtemperature Factory Limit O O O O O O MSG Access Only 262
920 Control Module Overtemperature User Limit O O O O O O 335
710 Control Power-up Time O O O O O Yes MSG Access Only 89
82 Conversion Constant R R R R R 103
890 Converter AC Input Phasing O O O O O 333
891 Converter AC Input Voltage O O O O O 333
637 Converter Capacity O - O O O O Yes 234
693 Converter Ground Current Factory Limit O O O O Yes MSG Access Only 263
709 Converter Ground Current User Limit O 334
605 Converter Output Current O O O O O 217
606 Converter Output Power O O O O O 217
684 Converter Overtemperature Factory Limit O O O O O Yes MSG Access Only 263

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
700 Converter Overtemperature User Limit O O O O 334
901 Converter Pre-charge Overload Factory Limit O O O O Yes MSG Access Only 262
921 Converter Pre-charge Overload User Limit O O O O 335
723 Converter Rated Output Current O - O O O O Yes MSG Access Only 277
724 Converter Rated Output Power O - O O O O Yes MSG Access Only 277
685 Converter Thermal Overload Factory Limit O O O O Yes MSG Access Only 263
701 Converter Thermal Overload User Limit O O O O O 334
715 Cumulative Control Power Cycles O O O O O Yes MSG Access Only 89
712 Cumulative Energy Usage O O O O O Yes MSG Access Only 89
714 Cumulative Main Power Cycles O O O O O Yes MSG Access Only 89
713 Cumulative Motor Revs O O O O Yes MSG Access Only 89
711 Cumulative Run Time O O O O O Yes MSG Access Only 89
520 Current Command - - R R R Yes 204
840 Current Disturbance - - O O O Yes 205
527 Current Error - - O O O Yes 205
529 Current Feedback - - O O O Yes 205
522 Current Limit Source - - O O O Yes 204
524 Current Reference - - O O O Yes 204
553 Current Vector Limit - O O O O Yes 208
196 Damping Factor R R R 298
620 DC Bus Voltage R - R R R R Yes 230
621 DC Bus Voltage - Nominal R R R R R Yes MSG Access Only 230
870 DC Injection Brake Current - O O O O Yes 224
872 DC Injection Brake Time - O O O O Yes 224
486 Deceleration Limit - O O O O Yes 185
892 Demonstration Mode Select O O O O O 333
960 Digital Input Configuration O O O O O 335
730 Digital Inputs O - O O O O Yes 278
731 Digital Outputs O - O O O O Yes 278
105 Direct Command Velocity - R - R - 78
736 Drive Enable Input Checking O O O O O MSG Access Only 279
200 Drive Model Time Constant - - R R R 299
725 Drive Power Structure Class ID O O O O MSG Access Only 328
648 Duty Select O O O O 333
120 Dynamics Configuration Bits - R R R - 113
885 External Bus Capacitance O O O O O 331
883 External Shunt Power 0 O O O O 331
884 External Shunt Pulse Power O O O O O 331

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
882 External Shunt Regulator ID O O O O O 331
886 External Shunt Resistance O O O O O 332
1435 + (n-1)*50 Feedback 1 Accel Filter Bandwidth O - O O O Yes E 145
2404 + (n-1)*50 Feedback 1 Accel Filter Taps O - O O O Yes E 145
2405 + (n-1)*50 Feedback 1 Battery Absolute O - O O O Yes E, TM 145
2405 + (n-1)*50 Feedback 1 Battery Absolute O - O O O Yes E 145
1400 Feedback 1 Catalog Number O - O O O Yes E, MSG Access Only 133
1417 + (n-1)*50 Feedback 1 Cycle Interpolation R - R R R Yes E, Not LT, AOP 142
1416 + (n-1)*50 Feedback 1 Cycle Resolution R - R R R Yes E, Not LT 141
1421 + (n-1)*50 Feedback 1 Data Code O - O O O Yes E, TP, SS 143
1420 + (n-1)*50 Feedback 1 Data Length O - O O O Yes E, TP, SS 143
1427 +(n-1)*5 Feedback 1 LDT Recirculations R - R R R Yes E, LT, MSG Access Only 144
1426 +(n-1)*50 Feedback 1 LDT Type R - R R R Yes E, LT, MSG Access Only 144
1419 + (n-1)*50 Feedback 1 Length R - R R R Yes E, Linear Absolute Only 142
2400 + (n-1)*50 Feedback 1 Loss Action O - O O O Yes E 144
1414 + (n-1)*50 Feedback 1 Polarity O - O O O Yes E 139
1410 + (n-1)*50 Feedback 1 Resolution Unit O O O O Yes E, MSG Access Only 138
1425 + (n-1)*50 Feedback 1 Resolver Cable Balance O - O O O Yes E, RS 143
1424 + (n-1)*50 Feedback 1 Resolver Excitation Frequency O - O O O Yes E, RS 143
1423 + (n-1)*50 Feedback 1 Resolver Excitation Voltage O - O O O Yes E, RS 143
1422 + (n-1)*50 Feedback 1 Resolver Transformer Ratio O - O O O Yes E, RS 143
2402 + (n-1)*50 Feedback 1 Scaling Ratio O - O O O E, MSG Access Only 144
1401 + (n-1)*50 Feedback 1 Serial Number O - O O O Yes E, MSG Access Only 133
1415 + (n-1)*50 Feedback 1 Startup Method R - R R R Yes E, O-Enum 140
643 Feedback 1 Temperature O O O O O Yes E, MSG Access Only 235
1418 + (n-1)*50 Feedback 1 Turn R - R R R Yes E, Rotary Absolute Only 142
1413 + (n-1)*50 Feedback 1 Type R - R R R Yes E, O-Enum 139
1411 Feedback 1 Unit R - R R R Yes E 138
1434 + (n-1)*50 Feedback 1 Velocity Filter Bandwidth O - O O O Yes E 145
2403 + (n-1)*50 Feedback 1 Velocity Filter Taps O - O O O Yes E 144
2383 + (n-1)*50 Feedback 1S Position O - O O O E, MSG Access Only 134
2384 + (n-1)*50 Feedback 1S Velocity O - O O O E, MSG Access Only 134
1435 + (n-1)*50 Feedback 2 Accel Filter Bandwidth O - O O O Yes E 145
2404 + (n-1)*50 Feedback 2 Accel Filter Taps O - O O O Yes E 145
2405 + (n-1)*50 Feedback 2 Battery Absolute O - O O O Yes E 145
1450 Feedback 2 Catalog Number - - O O O Yes E, MSG Access Only 133
1417 + (n-1)*50 Feedback 2 Cycle Interpolation R - R R R Yes E, Not LT, AOP 142
1416 + (n-1)*50 Feedback 2 Cycle Resolution R - R R R Yes E, Not LT 141

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
1421 + (n-1)*50 Feedback 2 Data Code O - O O O Yes E, TP, SS 143
1420 + (n-1)*50 Feedback 2 Data Length O - O O O Yes E, TP, SS 143
1477 +(n-1)*5 Feedback 2 LDT Recirculations R R R R Yes E, LT, MSG Access Only 144
1476 Feedback 2 LDT Type R R R R Yes E, LT, MSG Access Only 144
1419 + (n-1)*50 Feedback 2 Length R - R R R Yes E, Linear Absolute Only 142
2400 + (n-1)*50 Feedback 2 Loss Action O - O O O Yes E 144
1414 + (n-1)*50 Feedback 2 Polarity O - O O O Yes E 139
1460 Feedback 2 Resolution Unit O O O O Yes E, MSG Access Only 138
1425 + (n-1)*50 Feedback 2 Resolver Cable Balance O - O O O Yes E, RS 143
1424 + (n-1)*50 Feedback 2 Resolver Excitation Frequency O - O O O Yes E, RS 143
1423 + (n-1)*50 Feedback 2 Resolver Excitation Voltage O - O O O Yes E, RS 143
1422 + (n-1)*50 Feedback 2 Resolver Transformer Ratio O - O O O Yes E, RS 143
2402 + (n-1)*50 Feedback 2 Scaling Ratio O - O O O E, MSG Access Only 144
1401 + (n-1)*50 Feedback 2 Serial Number O - O O O Yes E, MSG Access Only 133
1415 + (n-1)*50 Feedback 2 Startup Method R - R R R Yes E, O-Enum 140
644 Feedback 2 Temperature O O O O O Yes E, MSG Access Only 235
1418 + (n-1)*50 Feedback 2 Turns R - R R R Yes E, Rotary Absolute Only 142
1413 + (n-1)*50 Feedback 2 Type R - R R R Yes E, O-Enum 139
1411 + (n-1)*50 Feedback 2 Unit R - R R R Yes E 138
1434 + (n-1)*50 Feedback 2 Velocity Filter Bandwidth O - O O O Yes E 145
2403 + (n-1)*50 Feedback 2 Velocity Filter Taps O - O O O Yes E 144
2383 + (n-1)*50 Feedback 2S Position O - O O O E, MSG Access Only 134
2384 + (n-1)*50 Feedback 2S Velocity O - O O O E, MSG Access Only 134
2432 Feedback 2U Acceleration O O O O Yes E, MSG Access Only 134
2430 Feedback 2U Position O O O O Yes E, MSG Access Only 134
2431 Feedback 2U Velocity O O O O Yes E, MSG Access Only 134
N/A Feedback Card Type O O O O E, AOP 336
250 Feedback Commutation Aligned - - O O O Yes E, O-Enum, PM Motor only 211
31 Feedback Configuration R R R R R R O-Enum 135
692 Feedback Data Loss Factory Limit O O O O O Yes E, MSG Access Only 262
708 Feedback Data Loss User Limit O O O O O Yes 265
43 Feedback Master Select O Yes MSG Access Only 137
42 Feedback Mode R R R R R Yes Derived - Feedback 136
Configuration
690 Feedback Noise Factory Limit O O O O O Yes MSG Access Only 262
706 Feedback Noise User Limit O O O O O Yes E 265
2385 + (n-1)*50 Feedback nS Acceleration O - O O O E, MSG Access Only 134
2385 + (n-1)*50 Feedback nS Acceleration O - O O O E, MSG Access Only 134

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
2382 + (n-1)*50 Feedback nU Acceleration O - O O O E, MSG Access Only 101
2382 + (n-1)*50 Feedback nU Acceleration O - O O O E, MSG Access Only 101
2380 + (n-1)*50 Feedback nU Position O - O O O E, MSG Access Only 134
2380 + (n-1)*50 Feedback nU Position O - O O O E, MSG Access Only 134
2381 + (n-1)*50 Feedback nU Velocity O - O O O E, MSG Access Only 101
2381 + (n-1)*50 Feedback nU Velocity O - O O O E, MSG Access Only 101
1412 + (n-1)*50 Feedback Port Select O - O O O 336
691 Feedback Signal Loss Factory Limit O O O O O Yes E, MSG Access Only 262
707 Feedback Signal Loss User Limit O O O O O Yes E 265
44 Feedback Unit Ratio - - O O - Yes E 137
871 Flux Braking Enable - O O O O Yes Ind Motor only 225
528 Flux Current Error - - O O O Yes 205
530 Flux Current Feedback - - O O O Yes 205
525 Flux Current Reference - - O O O Yes 205
532 Flux Decoupling O O O Yes MSG Access Only 206
557 Flux Integral Time Constant - - O O O Yes 208
556 Flux Loop Bandwidth - - O O O Yes 208
558 Flux Up Control - O O O O Yes Ind Motor only, O-Enum 209
559 Flux Up Time - O O O O Yes Ind Motor only 209
534 Flux Voltage Output O O O Yes MSG Access Only 206
380 Flying Start Enable - O - O - Yes 156
570 Frequency Control Method - R - - - Yes O-Enum 215
498 Friction Compensation Sliding - - O O O Yes 190
499 Friction Compensation Static - - O O O Yes 191
500 Friction Compensation Viscous - - O O O Yes 191
826/421 Friction Compensation Window - - O - - Yes 191
189 Gain Tuning Configuration Bits - - R R R 302
3 Group Instance R R R R R 63
981 Guard Faults - O O O O Yes 283
980 Guard Status - O O O O Yes 281
737 Hardware Overtravel Input Checking O O O O Yes MSG Access Only 279
88 Home Configuration Bits R - R R R E 110
86 Home Direction - - R R - E 104
85 Home Mode R - R R R E 104
90 Home Offset R - R R R E 110
89 Home Position R - R R R E 110
113 Home Return Speed - - R R - E 111
87 Home Sequence R - R R R O-Enum, E 104

34 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
112 Home Speed - - R R - E 111
245 Hookup Test Commutation Offset R - R R R PM Motor only, E 290
246 Hookup Test Commutation Polarity R - R R R PM Motor only, E 290
109 Hookup Test Distance R - R R R E 294
247 Hookup Test Feedback 1 Direction R - R R R E 291
248 Hookup Test Feedback 2 Direction R - R R R E 291
111 Hookup Test Feedback Channel R - R R R E 294
244 Hookup Test Status R R R R R 290
110 Hookup Test Time R - R - !E 294
1346 Induction Motor Flux Current - R R R R Yes Ind Motor only 126
1349 Induction Motor Magnetization Reactance - O O O O Yes Ind Motor only 127
1345 Induction Motor Rated Frequency - R R R R Yes Ind Motor only 126
1352 Induction Motor Rated Slip Speed - O O O O Yes Ind Motor only 127
1351 Induction Motor Rotor Leakage Reactance - O O O O Yes Ind Motor only 127
1350 Induction Motor Rotor Resistance - O O O O Yes Ind Motor only 127
1348 Induction Motor Stator Leakage Reactance - O O O O Yes Ind Motor only 126
1347 Induction Motor Stator Resistance - R R R R Yes Ind Motor only 126
829 Inertia Observer Configuration O O O Yes MSG Access Only 194
831 Inertia Observer Filter Bandwidth O O O Yes MSG Access Only 194
20 Inhibit Axis R R R R R 50
60 Interpolated Actual Position R - R R R E 75
101 Interpolated Command Position - - R R - E 77
108 Interpolated Position Configuration R R R R E 77
59 Interpolation Time R - R R R E 75
636 Inverter Capacity - R R R R Yes 233
640 Inverter Heatsink Temperature O O O O Yes MSG Access Only 234
647 Inverter Overload Action - O O O O Yes O-Enum 236
645 Inverter Overload Limit O O O O Yes MSG Access Only 235
682 Inverter Overtemperature Factory Limit O O O O Yes MSG Access Only 263
698 Inverter Overtemperature User Limit O O O O Yes MSG Access Only 264
721 Inverter Rated Output Current - R R R R Yes MSG Access Only 277
722 Inverter Rated Output Power - R R R R Yes MSG Access Only 277
720 Inverter Rated Output Voltage - R R R R Yes MSG Access Only 277
N/A Inverter Support R R R R R AOP 338
641 Inverter Temperature O O O O Yes MSG Access Only 234
683 Inverter Thermal Overload Factory Limit O O O O Yes MSG Access Only 263
699 Inverter Thermal Overload User Limit - O O O O Yes 264
1338 Linear Motor Damping Coefficient - O O O O Yes Linear Motor only 123

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
2313 Linear Motor Integral Limit Switch - O O O O Yes Linear Motor only 123
1336 Linear Motor Mass - O O O O Yes Linear Motor only 123
1337 Linear Motor Max Speed - O O O O Yes Linear Motor only 123
679 Linear Motor Overspeed Factory Limit - O O O O Yes MSG Access Only 261
1334 Linear Motor Pole Pitch - R R R R Yes Linear Motor only 123
1335 Linear Motor Rated Speed - R R R R Yes Linear Motor only 123
203 Load Coupling R R R 302
352 Load Inertia Ratio R R R 293
801 Load Observer Acceleration Estimate - - O O O Yes 184
806 Load Observer Bandwidth - - O O O Yes 185
805 Load Observer Configuration - - O O O Yes O-Enum 185
809 Load Observer Feedback Gain - - O O O Yes 185
807 Load Observer Integrator Bandwidth - - O O O Yes 185
802 Load Observer Torque Estimate - - O O O Yes 184
205 Load Ratio - - R R R 296
1370 Load Type C C C C C Yes R-Co CScale; O-Dr DScale 128
202 Loop Response R R R 301
4 Map Instance R R R R R 63
21 Master Input Configuration Bits - - R R - E 90
102 Master Offset - R R R - 78
22 Master Position Filter Bandwidth - - R R - E 90
115 Maximum Acceleration - R R R - 111
118 Maximum Acceleration Jerk - R R R - 112
116 Maximum Deceleration - R R R - 111
119 Maximum Deceleration Jerk - R R R - 111
573 Maximum Frequency - R - - - Yes 215
114 Maximum Speed - R R R - 111
572 Maximum Voltage - R - - - Yes 215
614 Mechanical Brake Control - O O O O Yes 220
616 Mechanical Brake Engage Delay - O O O O Yes 221
615 Mechanical Brake Release Delay - O O O O Yes 220
9 Memory Use R R R R R 64
159 Module Alarm Bits R R R R R 247
23 Module Alarm Bits R R R R R 247
5 Module Channel R R R R R 63
6 Module Class Code R R R R R 63
163 Module Fault Bits R R R R R 245
32 Motion Control Status Attribute Bits R R R R R 80

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
29 Motion Exception Action R R R R R 92
24 Motion Fault Bits R R R R R 88
79 Motion Polarity R R R R R Yes Co CScale; Dr DScale 101
78 Motion Resolution R R R R R Yes Co CScale; Dr DScale 97
45 Motion Scaling Configuration R R R R R Yes Co !Drive Scaling; Dr Drive 95
Scaling; O-Enum
32 Motion Status Bit R R R R R 80
77 Motion Unit R R R R R Yes Co CScale; Dr DScale 97
635 Inverter Overload Protection Method - R R R R Yes 232
1310 Motor Catalog Number - R R R R Yes R-Co !NV; O-Dr NV 115
1313 Motor Data Source - R R R R Yes O-Enum 116
1312 Motor Date Code O O O O Yes MSG Access Only 115
1314 Motor Device Code - R R R R Yes 116
523 Motor Electrical Angle - - R R R Yes PM Motor only 204
1323 Motor Integral Thermal Switch - O O O O Yes 119
1324 Motor Max Winding Temperature - O O O O Yes 119
646 Motor Overload Action - O O O O Yes O-Enum 235
695 Motor Overspeed User Limit - O O O O Yes 264
680 Motor Overtemperature Factory Limit O O O O Yes MSG Access Only 262
696 Motor Overtemperature User Limit O O O O Yes MSG Access Only 264
694 Motor Phase Loss Limit O O O O Yes 264
1317 Motor Polarity - O O O O Yes 118
1319 Motor Rated Continuous Current - R R R R Yes 118
1321 Motor Rated Output Power - C C C C Yes O-PM; R-IM 118
1320 Motor Rated Peak Current - C C C C Yes R-PM; O-IM 118
1318 Motor Rated Voltage - R R R R Yes 118
1311 Motor Serial Number - O O O O Yes MSG Access Only 115
642 Motor Temperature O O O O Yes MSG Access Only 234
174 Motor Test Counter EMF - R R R R PM Motor only 290
172 Motor Test Flux Current - R R R R Ind Motor only 289
171 Motor Test Inductance - R R R R 289
170 Motor Test Resistance - R R R R 289
173 Motor Test Slip Speed - R R R R Ind Motor only 289
175 Motor Test Status - R R R R 289
681 Motor Thermal Overload Factory Limit O O O O Yes MSG Access Only 262
697 Motor Thermal Overload User Limit - O O O O Yes 264
1315 Motor Type - R R R R Yes O-Enum 117
1316 Motor Unit - R R R R Yes 117

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
1325 Motor Winding to Ambient Capacitance - O O O O Yes 119
1326 Motor Winding to Ambient Resistance - O O O O Yes 119
N/A Number of Configured Axes R R R R R 338
N/A Number of Configurable Inputs O O O O O FW – only if Digital Input Configuration 338
is supported

521 Operative Current Limit - - O O O Yes 204

14 Output Cam Execution Targets R - R R R E 90
38 Output Cam Lock Status R - R R R E 87
37 Output Cam Pending Status R - R R R E 87
36 Output Cam Status R - R R R E 86
39 Output Cam Transition Status R - R R R E 87
601 Output Current - R R R R Yes 217
600 Output Frequency - R O O O Yes 217
603 Output Power - R R R R Yes 217
602 Output Voltage - R R R R Yes 217
508 Overtorque Limit - O O O O Yes 195
509 Overtorque Limit Time - O O O O Yes 196
2310 PM Motor Flux Saturation - O O O O Yes SPM only 120
2315 PM Motor Ld Flux Saturation O O O O Yes IPM only 121
1354 PM Motor Ld Inductance R R R R Yes IPM only 120
2314 PM Motor Lq Flux Saturation O O O O Yes IPM only 121
1353 PM Motor Lq Inductance R R R R Yes IPM only 120
1343 PM Motor Force Constant - O O O O Yes Linear PM Motor only 125
1328 PM Motor Inductance - R R R R Yes SPM Motor only 120
1344 PM Motor Linear Voltage Constant - R R R R Yes Linear PM Motor only 125
1342 PM Motor Rated Force - O O O O Yes Linear PM Motor only 125
1339 PM Motor Rated Torque - O O O O Yes Rotary PM Motor only 124
1327 PM Motor Resistance - R R R R Yes PM Motor only 120
1341 PM Motor Rotary Voltage Constant - R R R R Yes Rotary PM Motor only 124
1340 PM Motor Torque Constant - O O O O Yes Rotary PM Motor only 124
430 Position Command R Yes MSG Access Only 165
436 Position Error - - R - - Yes 166
444 Position Error Tolerance - - R - - Yes 172
445 Position Error Tolerance Time - - O - - Yes 172
1402 + (n-1)*50 Position Feedback (General Feedback Signal R R R R Yes E 133
Attributes)
434 Position Feedback (Position Loop Attributes) R - R R R Yes E, MSG Access Only 165
365 Position Fine Command - - O - - Yes 154

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
780 Position Integral Feedback O Yes MSG Access Only 166
442 Position Integrator Bandwidth - - R - - Yes 172
446 Position Integrator Control - - R - - Yes O-Bits 173
437 Position Integrator Output - - R - - Yes 166
447 Position Integrator Preload - - O - - Yes 173
781 Position Lead Lag Filter Bandwidth - - O - - Yes 173
782 Position Lead Lag Filter Gain - - O - - Yes 173
449 Position Limit - Negative O O O O Yes DScale, E, MSG Access Only 102
448 Position Limit - Positive O O O O Yes DScale, E, MSG Access Only 102
443 Position Lock Tolerance - - R - - Yes 172
441 Position Loop Bandwidth - - R - - Yes 172
N/A Position Loop Device Update Period R R R R 337
438 Position Loop Output - - R - - Yes 166
783 Position Notch Filter Frequency - - O - - Yes 173
432 Position Reference - - R - - Yes 165
73 Position Scaling Denominator R R R R R 96
72 Position Scaling Numerator R R R R R 96
197 Position Servo Bandwidth R 299
431 Position Trim - - R - - Yes 165
80 Position Units R R R R R 103
84 Position Unwind R - R R R Yes Co CScale; Dr DScale, E 103
75 Position Unwind Denominator R - R R R E 96
74 Position Unwind Numerator R - R R R E 96
627 Power Loss Action - O O O O Yes O-Enum 231
628 Power Loss Threshold O - O O O O Yes 231
630 Power Loss Time O - O O O O Yes 232
117 Programmed Stop Mode R R R R R 112
590 Proving Configuration O O O O Yes 226
376 Ramp Acceleration - O - O - Yes 156
377 Ramp Deceleration - O - O - Yes 156
378 Ramp Jerk Control - O - O - Yes 156
375 Ramp Velocity - Negative - O - O - Yes 102
374 Ramp Velocity - Positive - O - O - Yes 102
625 Regenerative Power Limit O O O O 331
63 Registration 1 Negative Edge Position R - R R R Yes E 149
67 Registration 1 Negative Edge Time R - R R R Yes E 150
55 Registration 1 Position R - R R R E 75
62 Registration 1 Positive Edge Position R - R R R Yes E 149

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
66 Registration 1 Positive Edge Time R - R R R Yes E 150
57 Registration 1 Time R - R R R E 75
65 Registration 2 Negative Edge Position R - R R R Yes E 150
69 Registration 2 Negative Edge Time R - R R R Yes E 150
56 Registration 2 Position R - R R R E 75
64 Registration 2 Positive Edge Position R - R R R Yes E 149
68 Registration 2 Positive Edge Time R - R R R Yes E 150
58 Registration 2 Time R - R R R E 75
356 Registration Inputs R - R R R E, AOP 149
613 Resistive Brake Contact Delay - O O O O Yes PM Motor only 220
1333 Rotary Motor Damping Coefficient - O O O O Yes Rotary Motor only 122
2312 Rotary Motor Fan Cooling Derating - O O O O Yes Rotary Motor only 122
2311 Rotary Motor Fan Cooling Speed - O O O O Yes Rotary Motor only 122
1330 Rotary Motor Inertia - O O O O Yes Rotary Motor only 122
1332 Rotary Motor Max Speed - O O O O Yes Rotary Motor only 122
678 Rotary Motor Overspeed Factory Limit - O O O O Yes MSG Access Only 261
1329 Rotary Motor Poles - R R R R Yes Rotary Motor only 122
1331 Rotary Motor Rated Speed - R R R R Yes Rotary Motor only 122
578 Run Boost - R - - - Yes 216
765 Safe Torque Off Action O O O O Yes O-Enum 288
70 Scaling Source R R R R R 95
881 Shunt Regulator Resistor Type O O O O O 331
629 Shutdown Action O - O O O O Yes O-Enum 232
370 Skip Speed 1 - O - - - Yes 155
371 Skip Speed 2 - O - - - Yes 155
372 Skip Speed 3 - O - - - Yes 155
373 Skip Speed Band - O - - - Yes 155
833 SLAT Configuration - - - O - Yes 178
834 SLAT Set Point - - - O - Yes 178
835 SLAT Time Delay - - - O - Yes 178
565 Slip Compensation - R - - - Yes 215
94 Soft Travel Limit - Negative R - R R R E 93
93 Soft Travel Limit - Positive R - R R R E 93
92 Soft Travel Limit Checking R - R R R E 93
50 Start Actual Position R R R R R 73
577 Start Boost - R - - - Yes 216
98 Start Command Position - R R R - 76
104 Start Master Offset - R R R - 78

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
610 Stopping Action - R R R R Yes O-Enum 218
612 Stopping Time Limit - O O O O Yes 219
611 Stopping Torque - - R R R Yes 219
49 Strobe Actual Position R R R R R 73
97 Strobe Command Position - R R R - 73
103 Strobe Master Offset - R R R - 78
29 Sync Threshold O O O O O 329
169 System Bandwidth - - R R R Derived – Servo BW 298
204 System Damping - - R R R Derived – Damp Factor 297
496 System Inertia - - R R O Yes 190
N/A Time Sync Support R R R R R Logix Designer 337
N/A Time Diagnostics R R R R R Logix Designer 337
490 Torque Command - - R R R Yes MSG Access Only 189
531 Torque Decoupling - - O O O Yes MSG Access Only 205
555 Torque Integral Time Constant - - O O O Yes 208
827 Torque Lead Lag Filter Bandwidth - - O O O Yes 191
828 Torque Lead Lag Filter Gain - - O O O Yes 191
505 Torque Limit - Negative - - R R R Yes 192
504 Torque Limit - Positive - - R R R Yes 195
554 Torque Loop Bandwidth - - O O O Yes 208
N/A Torque Loop Device Update Period - R R R R 337
502 Torque Low Pass Filter Bandwidth - - O O O Yes 191
503 Torque Notch Filter Frequency - - O O O Yes 191
836 Adaptive Tuning Configuration - - O O O Yes 194
844 Adaptive Tuning Gain Scaling Factor - - O O O Yes 193
837 Torque Notch Filter High Frequency Limit - - O O O Yes 192
838 Torque Notch Filter Low Frequency Limit - - O O O Yes 192
839 Torque Notch Filter Tuning Threshold - - O O O Yes 192
841 Torque Notch Filter Frequency Estimate - - O O O Yes 192
842 Torque Notch Filter Magnitude Estimate - - O O O Yes 193
843 Torque Low Pass Filter Bandwidth Estimate - - O O O Yes 193
232 Torque Offset - - R R R 190
591 Torque Prove Current O O O O Yes 228
506 Torque Rate Limit - - O O O Yes 195
492 Torque Reference - - R R R Yes 189
493 Torque Reference Filtered - - R R R Yes 189
494 Torque Reference Limited - - R R R Yes 189
507 Torque Threshold - - O O O Yes 195

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Chapter 1 Integrated Motion Axis Control Modes

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
491 Torque Trim - - R R R Yes 189
533 Torque Voltage Output O O O Yes MSG Access Only 205
206 Total Inertia - - R R R Rotary Motor only 296
821 Total Inertia Estimate - - O O O Yes MSG Access Only 101
207 Total Mass - - R R R Linear Motor only 296
1371 Transmission Ratio Input C C C C C Yes R-Co CScale; O-Dr DScale 128
1372 Transmission Ratio Output C C C C C Yes R-Co CScale; O-Dr DScale 128
71 Travel Mode R R R R R Yes Co CScale; Dr DScale 95
76 Travel Range R - R R R E 96
181 Tune Acceleration - - R R R 292
179 Tune Acceleration Time - - R R R 292
182 Tune Deceleration - - R R R 292
180 Tune Deceleration Time - - R R R 292
187 Tune Friction - - R R R 293
186 Tune Inertia Mass - - R R R 293
188 Tune Load Offset - - R R R 293
178 Tune Status - - R R R 292
191 Tuning Direction - - R R R 295
190 Tuning Select - - R R R 295
194 Tuning Speed - - R R R 295
195 Tuning Torque - - R R R 295
193 Tuning Travel Limit - - R R R 295
538 U Current Feedback - - O O O Yes MSG Access Only 206
541 U Current Offset - - O O O Yes MSG Access Only 207
535 U Voltage Output - - O O O Yes MSG Access Only 206
510 Undertorque Limit - O O O O Yes 196
511 Undertorque Limit Time - O O O O Yes 196
539 V Current Feedback O O O Yes MSG Access Only 206
542 V Current Offset O O O Yes MSG Access Only 207
536 V Voltage Output O O O Yes MSG Access Only 206
450 Velocity Command R R R Yes MSG Access Only 174
464 Velocity Droop - O O O - Yes 176
455 Velocity Error - - R R - Yes 174
465 Velocity Error Tolerance - - O O - Yes 176
466 Velocity Error Tolerance Time - - O O - Yes 176
454 Velocity Feedback (Velocity Loop Attributes) R R R R T Yes 174
1403+(n-1)*50 Velocity Feedback 1 (General Feedback Signal R R R R E, MSG Access Only 133
Attributes)

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 Integrated Motion Axis Control Modes Chapter 1

Table 7 - Identification of Motion Axis Attributes Based on Device Function Codes (Continued)
ID Attribute N - No O C - Closed Loop C/D(1) Conditional Implementation Page
Control Control
B E F P V T C/D(2)
1453 Velocity Feedback 2 R R R R E, MSG Access Only 133
433 Velocity Feedforward Command - - R - - Yes 165
440 Velocity Feedforward Gain - - R - - Yes 172
366 Velocity Fine Command - - O O - Yes 154
462 Velocity Integrator Bandwidth - - R R - Yes 175
467 Velocity Integrator Control - - R R - Yes O-Bits 176
456 Velocity Integrator Output - - R R - Yes 175
468 Velocity Integrator Preload - - O O - Yes 176
474 Velocity Limit - Negative - O O O - Yes 177
473 Velocity Limit - Positive - O O O - Yes 177
471 Velocity Lock Tolerance - O O O - Yes 177
461 Velocity Loop Bandwidth - - R R - Yes 175
Velocity Loop Device Update Period R R R R 337
457 Velocity Loop Output - - R R - Yes 175
469 Velocity Low Pass Filter Bandwidth - - O O - Yes 177
790 Velocity Negative Feedforward Gain - - O O - Yes 176
231 Velocity Offset - - R R - 175
453 Velocity Reference - R R R - Yes 174
198 Velocity Servo Bandwidth R 299
472 Velocity Standstill Window R R R R R Yes 177
470 Velocity Threshold O O O O O Yes 177
451 Velocity Trim - R R R - Yes 174
540 W Current Feedback O O O Yes MSG Access Only 206
543 W Current Offset O O O Yes MSG Access Only 207
537 W Voltage Output O O O Yes MSG Access Only 206
54 Watch Position R - R R R E 74
608 Zero Speed O O O O Yes 225
609 Zero Speed Time O O O O Yes 225
(1) The C/D value identifies the attributes that have a matching, or replicated attributes in the associated device/drive.
(2) The C/D value identifies the attributes that have a matching, or replicated attributes in the associated device/drive.

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Chapter 1 Integrated Motion Axis Control Modes

Motion Instruction The following table lists the motion instructions and what Control Modes
Compatibility are available. The compatibility with integrated motion is based on the
Axis Configuration and feedback type settings.

Table 8 - Motion Instructions and Control Mode Compatibility for AXIS_CIP_DRIVE

Motion Instruction Name Abbr. Feedback Frequency Position Velocity Loop Torque
Only Control Loop Loop
No Fdbk Fdbk No Fdbk
State Control Instructions
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 Instructions
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 Instructions
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 *
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 Instructions
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

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 Integrated Motion Axis Control Modes Chapter 1

Table 8 - Motion Instructions and Control Mode Compatibility for AXIS_CIP_DRIVE (Continued)
Motion Instruction Name Abbr. Feedback Frequency Position Velocity Loop Torque
Only Control Loop Loop
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 Instructions
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 Instructions
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

# MSO and MDS execution initiate mutually exclusive modes of operation and execution is conditional on mode.
For details on the MSO and MDS instructions, see The Motion Instruction Reference Manual, publication
MOTION-RM002.
* 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.

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Chapter 1 Integrated Motion Axis Control Modes

Notes:

46 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Chapter 2
CIP Axis Attributes
Use this chapter to get configuration, status, and fault information about an axis.
The controller stores axis information as axis attributes.
For a listing of the attributes that are replicated in the drive, see Identify Motion
Axis Attributes Based on Device Function Codes on page 27.

General Feedback Signal Attributes 133

Item Page
Feedback Configuration Attributes 135
Accessing Attributes 49
Feedback Interface Behavior 146
Interpreting the Attribute Tables 59
Motion Resolution Value Examples 99 Loop Control Attributes Page
CIP Data Types 323 Command Reference Generation Attributes 154
CIP Error Codes 324 Command Generator Signal Attributes 154
Command Generator Configuration Attributes 155
Motion Control Attributes Page
Command Generation Behavior 158
Motion Control Axis Attributes 59
Position Loop Attributes 165
Motion Control Interface Attributes 63
Position Control Behavior 167
Motion Control Configuration Attributes 67
Position Loop Configuration Attributes 172
Motion Control Signal Attributes 72
Velocity Loop Attributes 174
No Control (feedback only) Mode 79
Velocity Loop Configuration Attributes 175
Motion Control Status Attributes 80
Velocity Control Behavior 180
Motion Planner Configuration Attributes 90
Torque/Force Control Configuration Attributes 190
Motion Scaling Attributes 95
Torque Control Behavior 197
Motion Homing Configuration Attributes 104
Current Control Configuration Attributes 208
Motion Dynamic Configuration Attributes 111
Frequency Control Signal Attribute 215
Event Capture Attributes 149
Frequency Control Configuration Attributes 215
Event Capture Behavior 152
Stopping and Braking Attributes 218
Position Control Behavior 167
Current Control Behavior 212
CIP Axis Status Attributes 237
Motion Control Axis Behavior Model 303
State Behavior 311

Feedback Attributes Page

Feedback Attributes 130
General Feedback Info Attributes 133

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Chapter 2 CIP Axis Attributes

Guard Safety Attributes Page Faults and Alarms Attributes Page

Guard Status 281 Module/Node Fault and Alarm Attributes 245
Guard Faults 283 Configuration Fault Attributes 250
Exception, Fault, and Alarm Attributes 250
Axis Safety Attributes Page
Standard Exceptions 252
Axis Safety State 285
Exception Factory Limit Info Attributes 261
Axis Safety Status 286
Exception User Limit Configuration Attributes 264
Axis Safety Faults 287
Axis Exception Action Configuration Attributes 266
Initialization Faults Attributes 270
Motor Attributes Page
Start Inhibit Attributes 272
Motor Attributes 114
APR Fault Attributes 275
General Permanent Magnet Motor Attributes 120
Fault and Alarm Behavior 320
General Rotary Motor Attributes 122
Exceptions 321
General Linear Motor Attributes 123
Rotary PM Motor Attributes 124
Drive Commissioning and Tuning Attributes Page
Linear PM Motor Attributes 125
Motor Test Result Attributes 289
Induction Motor Attributes 126
Hookup Test Result Attributes 290
Load Transmission and Actuator Attributes 128
Inertia Test Result Attributes 292
Hookup Test Configuration Attributes 294
Drive Attributes Page
Inertia Test Configuration Attributes 295
Drive Output Attributes 217
Autotune Configuration Attributes 297
DC Bus Control Attributes 230
Power and Thermal Management Status Attributes 232
Power and Thermal Management Configuration Attributes 235
Drive General Purpose I/O Attributes 278
Guard Status Attributes 280

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 CIP Axis Attributes Chapter 2

Accessing Attributes You can access attributes in the Logix Designer application in several ways:
• Get System Value (GSV)
• Set System Value (SSV)
• Message (MSG)
• Axis Tags
• GUI Configuration by using Axis Properties in the Logix Designer
application

Table 9 - Access Rules

Access Rule Description
Set Set Attribute List service
Get Get Attribute List service
SSV Set System Variable instruction
GSV Get 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.
Get/SSV Indicates the attribute can only be set programmatically and shall not be set by
configuration software.
Set/GSV Indicates the attribute can only be set by configuration software on initial configuration
download and cannot be set programmatically.
T Templated (Tag) Data

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Chapter 2 CIP Axis Attributes

Attribute Access Rules

ATTENTION: 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.

The Access column shows how to access the attribute in the programming
software.
Motor Rated Voltage
Usage Access Data Type Default Min Max Semantics of Values
Required GSV REAL 0 0 - Volts (RMS)
DB

Command Torque Attribute value is updated from drive indirectly via CIP Motion Event Channel. Use a Get System Value (GSV) instruction to get the value.

Usage Access T Data Type Default Min Max Semantics of Values

Required GSV T REAL - - - % Rated

Inhibit Axis Use the axis tag or a GSV instruction to get the value.

Usage Access Data Type Default Min Max Semantics of Values

Required SSV SINT 0 - - 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.
0 triggers an uninhibit.
1 triggers an inhibit.

Use a Set System Value (SSV) instruction to set or change the value. Attribute is Get access but can be set via SSV.

If you need to find either Attribute and Class IDs, see Identification of Motion Axis Attributes Based on Device Function
Codes on page 27 and the specific drive documentation.

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 CIP Axis Attributes Chapter 2

Access Attributes from Ladder Logic

You can find attributes that are accessible through SSV or GSV instructions in
Ladder Logic. There are three main categories of attributes: status, interface, and
configuration.

The the GSV and SSV are filtered list for each attribute name, based on the
AXIS_CIP_DRIVE configurations P, V, T, N, and F.

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Chapter 2 CIP Axis Attributes

Example:
Table 10 - Accessing via a GSV
Axis Configuration Type Attribute Available
Position Loop PositionLoopBandwidth
VelocityLoopBandwidth
Velocity Loop VelocityLoopBandwidth (only)
Torque Loop Neither attribute is available.

This ladder illustrates that the GSV/SSV access is filtered based on the axis
configuration type, Position Loop, Velocity Loop, Torque Loop, Feedback Only,
and Frequency Control.

Access with a MSG (a message) Instruction

See these publications for complete information on programming:

• Logix5000™ Controllers Messages Programming Manual,
publication 1756-PM012
• ControlLogix® System User Manual, publication 1756-UM001

See Identification of Motion Axis Attributes Based on Device Function Codes

on page 27 for a table listing the attributes and their identification number:
• If you need to find out what optional attributes are supported in the drives,
refer to Drive Supported Optional Attributes on page 345.
• If you need to find Attribute and Class IDs related to drives, refer to the
specific drive documentation.

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Input Filtering

The filtering of the Kinetix® 6500 drive digital inputs can be set manually via a
message instruction.

IMPORTANT Updating these values is not generally necessary. Defaults are set by the
drive. For example, in the unusual case where you might what to change
the default values for the Input Filter attributes, this can be done using the
MSG instruction.

This is accomplished by writing to the following drive attributes:

• 961 (3c1 Hex) - Enable Input Pulse Reject Filter
• 962 (3c2 Hex) - Home Input Pulse Reject Filter
• 963 (3c3 Hex) - Registration 1 Input Pulse Reject Filter
• 964 (3c4 Hex) - Registration 2 Input Pulse Reject Filter
• 965 (3c5 Hex) - Positive Overtravel Input Pulse Reject Filter
• 966 (3c6 Hex) - Negative Overtravel Input Pulse Reject Filter

The values written to the attributes are for the input function, not a specific
input. For example, the value written to attribute 962 will set the reject filtering
for the Home Input regardless of which input it's assigned to. These filter settings
are software filters. The digital input circuitry provides filtering through its RC
network.

This example show how to set the Home Input Reject Filter.

Figure 5 - Message Configuration: Input Filtering

Table 11 - Message Configuration

Parameter Value
Message Type CIP Generic
Service Type Set Attribute Single
Class 42 (Hex)

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Table 11 - Message Configuration (Continued)

Parameter Value
Instance 1
Attribute 3c2 (Hex) --> 962 Dec = 3c2 Hex
Source Element Home_Filt is a DINT, units are in microseconds.
Source Length 4 bytes
Path Point to the drive

Tag Filtering
All elements of an axis structure are in a single cross
reference that lets you isolate down to the
‘tag.member’ level. You can filter tags based on the tag
name, tag description, or both. You can enter the filter
value or select a previously entered filter.

These are the filtering options:

• Filter On Name - Checks whether the filter exists within the tag name. You
can enter only valid characters.
• Filter On Description - Checks whether the filter exists within the tag
description.
• Filter On Both - Checks whether the filter exists within either the tag
name or its description. The filter must appear entirely in either the name
or the description.

With the Logix Designer application, you can be selective in the types of tags you
want to see at a given time. Filtering is applied to only base tags and not member
tags.
Click to filter tags by name

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You can filter the type of tag and data type you would like to see listed in the Data
Monitor or Tag Editor.

Attribute and Parameter In the Logix Designer application, the motion axis parameters and attributes are
organized by functional group. You will only be presented with the attributes or
Organization parameters that are applicable to the category you choose.

For example, when you choose Planner, only the attributes or parameters that
relate to the Planner Group appear.

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Accessing Drive Parameters

When getting a drive attribute value, you must configure the system to cyclically
update these attributes. Using just a GSV or Axis tag without configuring the
system in this way will not get the current attribute value in the drive.

Setting the drive attribute can, however, be done directly with a SSV instruction.
Changes to an Axis Tag value will not update the drive parameter without first
configuring the system to cyclically update these drive parameters.

The selection of Drive Parameters is also referred to as Cyclic Read/Write of the

integrated motion axis real time attributes.

IMPORTANT Each parameter you select to be transmitted as a Cyclic Read/Write

attribute adds overhead to the data exchange between the controller and
drive. This impacts network throughput and may require you to increase
the Coarse Update Period.

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Cyclic Read and Cyclic Write Cyclic data is real time information, sent and received between the controller and
the integrated motion drive at the Coarse Update Period. If you want to make use
of cyclic data you must use the Axis tag to access the data, thus provide data at the
motion group’s Coarse Update Period.

The following is an example of configuration and rung reference by using the

following five Cyclic Read/Write Drive Parameters.
There are three Read Parameters:
• Velocity Error
• Motor Electrical Angle
• DC Bus Voltage
There are two Write Parameters:
• Acceleration Feedforward Gain
• Velocity Loop Bandwidth
The attributes that you want to access as Cyclic Read/Write are configured for
the CIP Axis on the Drive Parameters page and generally accessed via the Axis
Tag.

TIP Cyclic write attributes are unique in that they have attribute storage policed
by the object handler (either Logix Designer or GSV/SSV) and also have
direct tag access which bypass the object validation.
The value written into the tag is validated before being written to the drive
and that if that validation fails you will see an 'out of range alarm' and flag
it in the axis fault/alarm log but that the value in the tag remains as written
by the user. The value of the internal attribute as viewed via GSV or in Logix
Designer shows the previously validated value.

See Module Alarm Bit Descriptions on page 247 for more information about
module alarm bits.

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When you are online, the Cyclic Drive Parameters list is condensed to show only
the selected parameters when the Servo Loop=Enabled.
When the Servo Loop=Disabled, all parameters in both the Read and Write list
are shown on the page. Additionally, the parameters populated in the list are
filtered based on the Axis Configuration.

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Motion Control Axis Attributes The Motion Control Axis Attributes let you configure motion-control system
devices, including feedback and drive devices. For drive devices, the Motion
Control 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.

Because of the large number of attributes listed in this appendix, they are
organized by functional category. Each functional grouping is further organized
by first listing the object Status and Signal attributes, followed by the
Configuration attributes. This table lists items to remember when working with
the attributes.

Table 12 - Items to Remember

Item Description
SSV access rule If an attribute is marked with a 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 RSLogix 5000® software, version 18.00.00, 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 are the same as the attribute
name, but with spaces removed.
For example, Inhibit Axis would be InhibitAxis.

Interpreting 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.

For a listing of the attributes that are replicated in the drive, see Identify Motion
Axis Attributes Based on Device Function Codes on page 27.

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The following table provides an explanation of the information, nomenclature,

and abbreviations used in the attribute tables.

Table 13 - Attribute Table Conventions Descriptions

Column Heading Description
Usage Required This is a required attribute. The attribute is supported for the listed control modes for each attribute.
(implementation) Optional This is an optional attribute. The attribute is optionally supported for the listed control modes for
each attribute. Optional attributes are based on the specific drive that has been associated.
Usage is often based on specific Device Function Codes where the attribute is applicable.
Device Function Codes B = Bus Power Converters
P = Position Loop
V = Velocity Control Loop
T = Torque Control Loop
N = No Control (Feedback Only)
F = Frequency Control (V/Hz or VFD), Frequency only supported for PowerFlex® 755 drives
C = Closed Loop Control (PI Vector Control)
D = All Drives (Closed Loop Vector and Frequency Controlled)
E = Encoder present
!E = Encoderless/sensorless control, feedback device is not present
Required - All = All Control Modes
Optional - All = All Control Modes
For more information about Control Modes and Methods, see Integrated Motion Axis Control Modes on page 15.
Access Rules GSV Can be read via the GSV instruction.
SSV Can be written via the SSV instruction.
MSG Message is only used to access drive attributes for which there is not GSV/SSV access.
To use a MSG instruction to access information from a drive, you will need the Attribute and Class IDs. See
Identification of Motion Axis Attributes Based on Device Function Codes on page 27. If you need drive
specific information, see the drive documentation for Attribute and Class ID information.
ATTENTION: 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 The 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
See CIP Data Types on page 323.

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Table 13 - Attribute Table Conventions Descriptions (Continued)

Column Heading Description
Default, Minimum, Maximum Range DB = Motion Database
Limits 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 = 103 * maxpos
minspd = minfloat
maxacc = 103 * maxspd
maxint = 215 -1
max dint = 231-1
minacc = minfloat
- (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.
Semantics of Values The meaning of the attribute values.
For example: Position Units/Sec.
There may be additional information in the description that directly follows the attribute listing.
CST Coordinated System Time

TIP If you need to find Attribute and Class IDs, see Identification of Motion Axis
Attributes Based on Device Function Codes on page 27 and Drive Supported
Optional Attributes on page 345.

For more information about Control Modes and Methods, see Integrated
Motion Axis Control Modes on page 15.

Table 14 - Device Function Code Combinations

Device Code Combination Description
N BE All Device Functions using No Control Method
O F All Device Functions using Open Loop Control Methods. (Frequency Control)
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)
In addition to these combinations, there are many attributes that are applicable or not applicable to encoderless or
sensorless drive operation, for example, Velocity Controlled drives operating without a feedback device.
We can use Device Function Codes to specify conditional implementation rules for attributes. To accommodate these
situations, we defined the following Device Functions Codes.
E Encoder-based device operation
!E Encoderless or Sensorless device operation, all control modes that do not use a Feedback device
C/D - Replicated

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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.

Table 15 - Attribute Unit Cross-referencing

Attribute Unit Applicable Units Semantics of Values
Position Unit User String User defined unit of measure of motion displacement, for example,
meters, feet, inches, millimeters, revolutions, degrees, or candy bars.
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
% Device Rated % 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.
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
2
Inertia Units Kg-m Kilogram-Meter2
Mass Units Kg Kilogram
Loop Bandwidth Units Hz Hertz
Filter Frequency Units Hz Hertz
Counts Fundamental control unit for distance.
For example, feedback counts or planner counts.

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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.
For more information about Control Modes and Methods, see Integrated
Motion Axis Control Modes on page 15.

Axis Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV DINT - - - Instance Number
The Axis Instance attribute is used to return the instance number of an axis. Major fault records generated for an axis major fault contains only the instance of the offending axis. You
would typically use this attribute to determine if this was the offending axis; for example, if the instance number matches.
If you are going to access data by using an MSG instruction, the Axis Instance attribute is required and is just one of the many pieces of data required.

Group Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV DINT - - - Instance Number
Use the Group Instance attribute to determine what motion group this axis is assigned to. The Logix control system currently supports a maximum of 1 group.

Map Instance
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV DINT - - - Instance Number
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 GSV USINT 255 - - Channel Number (0, 1, 2, …).
A value of 255 indicates the axis is unassigned.
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 GSV DINT - - - Object Class Code
The Module Class Code attribute is the class code of the motion engine in the module; for example, 0xAF is the object ID of the Servo Module Axis residing in the 1756-M02AE module.

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C2C Map Instance

Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV DINT - - - Producer/Consumed axis’s associated C2C map instance.
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 GSV DINT - - - 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 via the C2C
connection.

Memory Use
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV UINT - - - 105 (0x69) = I/O space
106 (0x6a) = Data Table space
The Memory Use attribute is the controller memory space where the Motion Control Axis exists.
This attribute is initialized as part of the create service when you create the axis.
The programming software 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.

Axis Configuration State

Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV USINT - - - Enumeration
0 = Axis Instance Created
1 = Connection Created
126 = Axis Inhibited
128 = Axis Configured
State of the configuration state machine for an axis. This attribute is valid for all physical and non-physical data types.

Axis State
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV USINT - - - Enumeration
0 = Ready
1 = Drive Enable, (direct drive control)
2 = Servo Control
3 = Faulted
4 = Shutdown
5 = Inhibited
6 = Ungrouped (axis unassigned)
7 = No Module
8 = Configuring
FW = default
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.
See the Motion Instructions Reference Manual, publication MOTION-RM002, for further details about Axis State.

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Inhibit Axis
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV SINT 0 - - 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.
0 = triggers an uninhibit.
1 = triggers an inhibit.
The Inhibit Axis attribute is 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 online inhibit process is an intrusive operation in that it affects all axes associated to the same 1756-ENxT module as the axis being inhibited. As such, it is expected that the users
will trigger this operation with the machine in a safe, nonoperating state. The inhibit process includes the breaking connection to the associated 1756-ENxT module and then allowing
the module to be reconfigured with or without (depending if you are inhibiting or uninhibiting) this axis.
The inhibit/uninhibit operation will also stop all motion on all axes associated to the same 1756-ENxT module, including breaking all gearing relationships. This stop operation follows
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 generally coasts to
a stop.

Axis ID
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV DINT - - - ID
The Axis ID attribute is a unique number assigned to an axis on creation by configuration software. The Axis ID is used to uniquely identify an axis. The Axis ID value is assigned by
configuration software at the time of axis creation.
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 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 - All GSV USINT - - - Enumeration
0 = Base
1 = Alternate 1
2 = Alternate 2
3…255 = Reserved
This attribute 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.

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Axis Data Type

Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV USINT - - - ID
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: 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.

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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.

Axis Features

Usage Access Data Type Default Min Max Semantics of Values

Required - All GSV DINT 0 - - Bitmap
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 Mode Change (O)
16 = Pass Bus Status (O)
17 = Pass Bus Unload (O)
18…31 = Reserved

Table 16 - Axis Features Bit Descriptions

Bit Feature Description
0 Fine Interpolation (O) If set, 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) If set, 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) If set, indicates that this axis supports the Alarm Log feature. Alarm Log data can therefore be received
from the drive via the Alarm bit of the Status Data Set and used to update the controller’s Alarm Log.
3 Marker (O) If set, 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) If set, 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) If set, 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.
6 Commutation Test (O) If set, 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) If set, 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) If set, 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) If set, the axis supports sensorless vector control operation allowing the to drive run in velocity loop or
torque loop without an external feedback device. This is equivalent to the S Device Function Code.
10 Drive Scaling (O) If set, the device supports Drive Scaling functionality where the device is able to scale feedback counts to
planner counts and manage absolute position.

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Table 16 - Axis Features Bit Descriptions (Continued)

Bit Feature Description
11 Extended Event Block (O) If set, 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) If set, 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 Extended Motor Test (O) If set, 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) If set, the device supports the ability to change the Control Mode while in the Running state without
generating large motion disturbances (bumplesss). 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 shall be generated.
15 Feedback Mode Change (O) If set, the device supports the ability to change the Feedback Mode while in the Running state without
generating large motion disturbances (bumplesss). 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 shall be generated.
16 Pass Bus Status (O) If set, the associated 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.
17 Pass Bus Unload (O) If set, 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…31 Reserved N/A

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Axis Configuration
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV USINT - 0 5 Enumeration
0 = Feedback Only (O)
1 = Frequency Control (O)
2 = Position Loop (O)
3 = Velocity Loop (O)
4 = Torque Loop (O)
5 = Converter Only (O)
6…15 = Reserved
The Axis Configuration attribute determines the general dynamic control behavior of the motion device axis instance.(1)
Table 17 - Axis Configuration and related Control Mode and Method
Axis Config Control Mode Control Method
Converter Only No Control No Control
Feedback Only No Control No Control
Frequency Control Velocity Control Frequency Control
Position Loop Position Control PI Vector Control
Velocity Loop Velocity Control PI Vector Control
Torque Loop Torque Control PI Vector Control
This attribute is used to set both the Control Mode and Control Method attributes according to this table. 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.

(1) See Interpreting the Attribute Tables on page 59 for explanations on the Usage combinations.
Table 18 - Axis Configuration Enumeration Descriptions
Enumeration Usage Name Description
0 R/E Feedback Only Feedback Only provides an axis interface to a specific feedback device as a master feedback source. Both the Control
O/C 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 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 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 Required - V Velocity Loop Velocity Loop selects the PI Vector Control Method that applies feedback to provide closed loop cascaded PI control
Optional - P 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 Required -T Torque Loop Torque Loop selects the PI Vector Control Method that applies feedback to provide closed loop PI control of motor
Optional -PV torque via control of Iq and Id components of the motor current vector. Accordingly, the Control Mode attribute is set
to Torque Control.
5 R/B Converter Only Converter Only provides an axis interface to a standalone power converter device. Both the Control Mode and
O/D Control Method are set to No Control in this configuration, indicating that there is no dynamic control capability
associated with this axis.
6…255 Reserved -

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Control Mode
Usage Access Data Type Default Min Max Semantics of Values
(1)
Required - All SSV BYTE 0 0 4 Enumeration
Derived from Axis Configuration 0 = No Control
1 = Position Control
2 = Velocity Control
3 = Acceleration Control
4 = Torque Control
5…15 = Reserved
Bits 4…7 = Reserved
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. 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 system view of these control modes are described in detail in Section 1.
This table provides a summary of valid Control Modes. For more information about Control Modes, see Integrated Motion Axis Control Modes on page 15.
When modified programmatically, via an 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 because position loop attributes have not been configured. This table provides a list of valid
Control Modes for a given Axis Configuration.

Axis Configuration Valid Control Modes

Converter Only 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

(1) AOP - Default value can be specified by the specific drive profile (AOP).
SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Table 19 - Control Mode Enumeration Descriptions

Enumeration Usage Name Description
0 R/N No Control No motor control is provided in this mode.
1 R/P Position Control Device seeks to control the position, or orientation, of the motor.
2 R/PV Velocity Control Device seeks to control the velocity of the motor.
3 O/C Acceleration Control Device seeks to control the acceleration of the motor.
4 R/C Torque Control Device seeks to control the torque output of the motor.
5…15 Reserved -

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Control Method
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV USINT 0 0 2 Enumeration
Derived from Axis Configuration 0 = No Control
1 = Frequency Control
2 = PI Vector Control
3…255 = Reserved
The Control Method (derived from Axis Configuration) attribute is an 8-bit enumerated code that determines the basic motor control algorithm applied by the device to control the
dynamic behavior of the motor. This value is sent to the drive during initialization and cannot be changed during operation.
Table 20 - Control Method Enumeration Description
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 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, 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 -

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Motion Control Signal Attributes The Motion Control Signal Attributes associated with the axis provide access to
the current and historical position, velocity, and acceleration information of the
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 via Logix
Designer software. Thus, a Motion Signal attribute may be directly referenced in
a program as <axis tag name>,<motion status tag name>, for example, a
FeedAxis.ActualPosition.

To avoid the unnecessary processor effort associated with real-time conversion of

certain Motion Control Signal tags that are not of interest, you may want to
explicitly disable real-time updates of these attributes via the Auto Tag Update
attribute of the associated motion group. A subset of the Motion Control Signal
Attributes require the Auto Tag Update attribute to be enabled to perform
scaling conversion. If disabled, the tag value will be forced to zero. These Motion
Control Status Attributes are affected:
• Actual Position
• Actual Velocity
• Actual Acceleration
• Master Offset
• Command Position
• Command Velocity
• Command Acceleration
• Average Velocity

Actual Position
Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T REAL - - - Position Units
Tag access is supported by the value and is valid only when Auto Tag Update of the
Motion Group Object is enabled.
Actual Position is the current position of an axis in the configured Position Units of that axis. This value is based on time stamped position or velocity feedback data reported to the
controller as part of an ongoing cyclic data transfer process. The Actual Position value, when based on time stamped position feedback, is corrected based on its timestamp to be the
actual position of the axis at the start of the update cycle in which it is read.

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Strobe Actual Position, Strobe Command Position, and Strobe Master Offset
Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T REAL - - - Position Units
Strobe Actual Position, Strobe Command Position, and Strobe Master Offset attributes are used to simultaneously store a snap-shot of the actual, command position and master offset
positions 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.
Because 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.
See Strobe Command Position on page 76 for more information.
See the Motion Instructions Reference Manual, publication MOTION-RM002, for further details about the MGSP instruction.

Start Actual Position

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T REAL - - - Position Units
Whenever a new Motion Planner instruction starts for an axis, for example, by 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.
See the Motion Instructions Reference Manual, publication MOTION-RM002, for further details about the MAM instruction.

Average Velocity
Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T REAL - - - Position Units/Sec
Tag access is supported, but value is valid only when Auto Tag Update of the
Motion Group Object is enabled.
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 Average Velocity Time base is the length
of time over which the average 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 is calculated by using this equation.
1
Averaged Velocity Timebase [Seconds] x K Feedback Counts
Position Unit
For example, on an axis with position units of inches and a conversion constant (K) of 20000, an average velocity time-base of 0.25 seconds
results in an average velocity resolution of:

1 Inches Inches
= 0 . 0002 = 0 . 012
. 25 x 20000 Second Minute
The minimum Average Velocity Timebase value is one Coarse Update Period as defined by the associated Motion Group Object.

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Actual Velocity
Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T REAL - - - Position Units/Sec
Tag access is supported, but the value is valid only when Auto Tag Update of the
Motion Group Object is enabled.
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 from the current
increment to the actual position per Coarse Update Period.
Actual Velocity is a signed 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 one feedback count per coarse update.

Actual Acceleration
Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T REAL - - - Position Units/Sec2
Tag access is 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. It is calculated as the current
increment to the actual velocity per Coarse Update Period.
Actual Acceleration is a signed floating-point value. The resolution does not depend on the Averaged Velocity Timebase, but rather on the constant of the axis and the fact that the
internal resolution limit on Actual Velocity is one feedback count per Coarse Update Period2.

Watch Position
Usage Access T Data Type Default Min Max Semantics of Values
Required - E GSV T REAL - - - Position Units
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.
See the Motion Instructions Reference Manual, publication MOTION-RM002, for further details about the MAW instruction.

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Registration 1 Position and Registration 2 Position

Usage Access T Data Type Default Min Max Semantics of Values
Required - E GSV T REAL - - - Position Units
Two Registration Position attributes are provided to independently store the axis position associated with two different registration input events. The Registration Position value is the
absolute position of a physical 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).

Encoder
Counter Encoder

Registration Registration Registration

Position Latch Input

The Registration Latch mechanism is controlled by 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.

Position Units
Uncertainty = Axis Speed x Delay
Seconds

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 rearranging this formula.

Position Units Desired Accuracy Position Units

Maximum Speed
Second Delay
See the Motion Instructions Reference Manual, publication MOTION-RM002, for further details about the MAR instruction.

Registration 1 Time and Registration 2 Time

Usage Access T Data Type Default Min Max Semantics of Values
Required - E GSV T DINT - - - CST time in microseconds
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 Type Default Min Max Semantics of Values
Required - E SSV T DINT - - - CST time to Interpolation
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 Type Default Min Max Semantics of Values
Required - E GSV T REAL - - - Position Units
The Interpolated Actual Position attribute is the interpolation of the actual position, based on past axis trajectory history, at the time specified by the Interpolation Time attribute.

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Command Torque
Usage Access T Data Type Default Min Max Semantics of Values
Required - VT GSV/SSV T REAL 0 - + % Rated
The Command Torque attribute is the commanded torque in units of percent Rated Torque of the motor. This tag value is transferred by the Logix processor to a physical axis as part of
an ongoing synchronous data transfer process. 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 affect on the axis unless the axis is configured for Torque Loop operation. For this attribute’s value to be applied as the torque command, a Motion Drive Start
instruction is 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 affect on axis
motion. Only CIP Drive Axis data types currently support this capability.

Command Position
Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Position Units
Tag access is supported, but the value is valid only when Auto Tag Update of
the Motion Group Object is enabled.
Command Position is the desired or commanded position of a physical axis, in the configured Position Units of that axis, as generated by the Motion Planner. Command Position data is
typically transferred by the controller to the drive axis together with a time stamp as part of the ongoing cyclic data transfer process. The Command Position value is used as the basis
for the command that will be acted upon by the control structure of the drive at the targeted time based on the associated time stamp.

Strobe Command Position

Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Position Units
The Strobe Actual Position, Strobe Command Position and Strobe Master Offset, and Strobe Command Position attributes are used to simultaneously store a snapshot 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.
Because 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, 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.
• See the Strobe Actual Position, Strobe Command Position, and Strobe Master Offset on page 73 for more information.
• See the Motion Instructions Reference Manual, publication MOTION-RM002, for further details about the MGSP instruction.

Start Command Position

Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Position Units
Whenever a new Motion Planner instruction starts for an axis, for example, by 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.

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Command Velocity
Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Position Units/Sec
Tag access is supported, but the value is valid only when Auto Tag Update of the
Motion Group Object is enabled.
The Command Velocity is the commanded speed and direction of an axis, in the configured axis Position Units per second, as generated by the Motion Planner. 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.
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 planner counts per coarse update.

Command Acceleration
Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Position Units/Sec2
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, 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 planner counts per Coarse Update Period2.

Interpolated Command Position

Usage Access T Data Type Default Min Max Semantics of Values
Required - E, PV only GSV T REAL - - - Position Units
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.

Interpolated Position Configuration

Usage Access T Data Type Default Min Max Semantics of Values
Required - PVT SSV DWORD 0:0 - - Bitmap
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 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.

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Master Offset
Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Master Position Units
PV only Tag access is 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.

Strobe Master Offset

Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Master Position Units
PV only
The Strobe Master Offset attribute is the position offset that was applied to the master side of the position cam when the last Motion Group Strobe Position (MGSP) instruction was
executed. 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.

Start Master Offset

Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Master Position Units
PV only
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 Type Default Min Max Semantics of Values
Required - FV SSV T REAL 0 - + Position Units/Sec
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. For this attribute’s value to be applied as the velocity command, a Motion Drive Start (MDS) instruction is 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.

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No Control (feedback only) Mode No Control mode can be configured to allow for the position, velocity, and
acceleration of any one of four possible feedback channels to be accessed by the
controller via the Device-to-Controller Connection. These signals can then be
distributed across the motion control system as a master axis for gearing and
camming operations. In this mode, the Feedback Master Select attribute
determines which feedback channel produces the Position, Velocity, and
Acceleration Feedback signals.

Figure 6 - No Control (feedback only)

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Motion Control Status Attributes These are the Motion Control Status Attributes associated with a Motion
Control Axis. The Axis Event Bits are located in Event Capture Attributes on
page 149.

Motion Status Bit

Usage Access T Data Type Default Min Max Semantics of Values

(1)
Required - All GSV T DINT - - - Bitmap
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 = TimeCamLockStatus
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
Bitmapped collection of status conditions associated with the Motion Planner function.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

Table 21 - Motion Control Status Attribute Bit Descriptions

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 decelerate. If neither bit is set, then the axis is running at steady state velocity or at rest.
1 Decel 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 decelerate. If neither bit is set, then the axis is running at steady state velocity or at rest.
Decel status bits do not account for drive handling of decel override. Decel status bits only account for commanded decel.
2 Move Status The MoveStatus bit attribute is set if a Move motion profile is currently in progress. As soon as the Move is completed 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 completed or superseded by some other
motion operation, the JogStatus bit is cleared.

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Table 21 - Motion Control Status Attribute Bit Descriptions (Continued)

Bit Motion Status Description
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 completed 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, MGPS, 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 Axis 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 integrated 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.
For more information on APR, see the Integrated Motion Configuration and Startup User Manual, publication MOTION-UM003.
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 completed
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 completed or
superseded by some other motion operation, the TimeCamStatus bit is cleared.
10 Position Cam Pending Status The PositionCamPendingStatus bit attribute is set if a Position Cam motion profile is 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 Status The TimeCamPendingStatus bit attribute is set if a Time Cam motion profile is currently 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 is 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 Status The PositionCamLockStatus bit attribute is set whenever the master axis satisfies the 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.
While the PositionCamLockStatus = 0, Master Offset changes are applied to the master side of the position cam. There will be no
corresponding change to the slave axis side of the position cam.
14 Time Cam Lock Status Reserved
15 Master Offset Move Status The MasterOffsetMoveStatus bit attribute is set if a Master Offset Move motion profile is currently in progress.
As soon as the Master Offset Move is completed or superseded by some other motion operation, the MasterOffsetMoveStatus bit is cleared.
16 Coordinated Motion Status The CoordinatedMotionStatus bit attribute is set if any coordinated motion profile is currently active upon this axis.
As soon as the Coordinated Motion is completed or stopped, the CoordinatedMotionStatus bit is cleared.
17 Transform State Status The Transform State Status bit is set if the axis is involved in a transform. The axis is in 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 Transform Status The Controlled By Transform Status bit is set if the axis is under transform control. True indicates the axis is under transform control and false
indicates it is not under transform control. An axis under transform control can not be commanded to move.

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Table 21 - Motion Control Status Attribute Bit Descriptions (Continued)

Bit Motion Status Description
19 Direct Velocity Control Status When the Direct Velocity Control Status bit is set, the axis speed is directly controlled by the Direct Command Velocity value.
This bit is set by the Motion Drive Start instruction (MDS) and applies only to CIP Drive axis types.
20 Direct Torque Control Status When the Direct Torque Control Status bit is set, the axis torque is directly controlled by the Command Torque value.
This bit is set by the Motion Drive start instruction (MDS) and applies only to CIP Drive axis types.
21 Reserved
22 Move Lock Status The Move Lock Status 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 Move Lock Status bit is 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 Move Lock Status 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 Reserved
24 Jog Lock Status The Jog Lock Status 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 Jog Lock Status bit is 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 Jog Lock Status bit is cleared when the Master Axis reverses direction and the Slave Axis stops following the Master Axis. The Jog Lock
Status bit is set again when the Slave Axis resumes following the Master Axis.
25 Reserved
26 Master Offset Move Lock Status The Master Offset Move Lock Status bit is set when the master axis satisfies the Lock Direction request of a Master Offset Move executed by
using MAM instruction.
• If the Lock Direction is Immediate Forward Only or Immediate Reverse Only, the Master Offset Move Lock Status bit is 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 Master Offset Move Lock Status bit is cleared when the Master Axis reverses direction and the Slave Axis stops following the Master Axis.
The Master Offset Move Lock Status bit is set again when the Slave Axis resumes following the Master Axis.
27 Maximum Speed Exceeded The Maximum Speed Exceeded bit is set when the axis command velocity at any time exceeds the maximum speed configured for an axis.
The bit is cleared when the axis velocity is reduced below the maximum speed.

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Axis Status Bits

Usage Access T Data Type Default Min Max Semantics of Values
(1)
Required - All GSV T DINT - - - 0 = ServoActionStatus
1 = DriveEnableStatus
2 = AxisShutdownStatus
3 = ConfigurationUpdateInProcess
4 = InhibitStatus
5 = DirectControlStatus
6 = Axis Update Status
7…31 = Reserved
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.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

Table 22 - Axis Status Bit Descriptions

Bit Axis Status Description
0 Servo Action The ServoActionStatus bit attribute is set when the associated axis motor control function is tracking command reference from the controller.
Status
1 Drive Enable 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
Status 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 Shutdown state. As soon as the axis is transitioned from the
Status Shutdown state to another state, the Shutdown Status bit is cleared.
3 Configuration The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute
Update in Process updates initiated by either online configuration 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 Status Bits attribute provides a method of waiting until the servo configuration data update to the connected 1756-ENxT 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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Table 22 - Axis Status Bit Descriptions

Bit Axis Status Description
5 Direct Control 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
Status Planner functionality is disabled, so if you attempt to move the axis with a Motion Planner instruction, for example, MAM, MAJ, and MAG, an instruction
error occurs.

In Direct Control you don’t have to establish or maintain absolute reference

position, so when you attempted to execute the MAH and MRP
instructions, they will result in an instruction error.
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, MDS, an instruction error occurs. This bit
applies only to CIP Drive axis types.
This illustration describes the following behavior.
The Direct Control Status bit is set by the Motion Drive Start instruction
(MDS) and once set, can be cleared only 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
be set again only by executing an MDS instruction from the Stopped or
Stopping State.

6 Axis Update 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
Status 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.
This attribute is intended to be used within an event task triggered upon motion group task. If used within a continuous task, depending on the Base
Update Period and the Alternate Update Rate configured for the system, its possible that by the time a continuous task runs another re-scan of the rung
that checks the Axis Update Status flag, the flag has already gone through a cycle, say, from 1…0 and back to 1.
• When the axis is scheduled for an update, the Axis Update Status bit is set, regardless of the inhibit state of the drive module that it is associated.
• When you have an inhibited axis, the Axis Update Status bit is always set to true.
For more information about Axis Multiplexing, see the Integrated Motion on the EtherNet/IP Network User Manual, publication MOTION-UM003.
7…31 Reserved

Axis Fault Bits

Usage Access T Data Type Default Min Max Semantics of Values
(1)
Required - All GSV T DINT - - - Bitmap
0 = PhysicalAxisFault
1 = ModuleFault
2 = ConfigurationFault
3 = GroupFault
4 = MotionFault
5 = GuardFault
6 = InitializationFault
7 = APRFault
8 = Safety Fault
9…31 = Reserved
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 axis 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.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

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Table 23 - Axis Fault Bit Descriptions MAOC

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 Servo axis data types, Physical Axis Faults map to the Servo Faults attribute. For Servo Drive axis data types, Physical Axis Faults map to
the Drive Faults attribute. For CIP Drive axis data types, Physical Axis Faults map to the standard CIP Axis Faults attribute, or manufacturer
specific CIP Axis Faults - RA, and CIP Axis Fault - Mfg (not supported) attributes.
1 Module Fault The Module Fault bit attribute is set when one or more faults have occurred related to the 1756-ENxT 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 affects all axes associated with the 1756-ENxT module. A module fault generally results in the shutdown of all
associated axes. Reconfiguration of the 1756-ENxT module is required to recover from a module fault condition.
2 Configuration Fault The Configuration Fault bit is set when an update operation targeting an axis configuration attribute of an associated 1756-ENxT 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 1756-ENxT 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 affects 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.
4 Motion Fault If the Motion Fault bit is set, it indicates that there is one or more fault conditions that 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 there is one or more fault conditions that have occurred related to the embedded Guard
Motion safety function of the drive. The specific fault conditions can then be determined through access to the Guard Fault attribute of the
associated axis. Guard Faults are applicable only if the drive device is equipped with Hardwired Guard Safety functionality.
6 Initialization Fault The Initialization Fault bit is set when initialization of a integrated motion device fails for any reason. Specific information concerning the
Initialization Fault may be found in the standard CIP Initialization attribute, or manufacturer specific CIP Initialization Fault - RA, and CIP
Initialization Fault - Mfg (not supported) attributes associated with the CIP Drive axis data types.
7 APR Fault The Absolute Position Recovery Fault bit is set during axis configuration when the system is not able to recover the absolute position of
the axis. Specific information concerning the APR Fault may be found in the standard APR Fault attribute, or manufacturer specific APR
Fault – RA, and APR Fault – Mfg (not supported) attributes associated with the CIP Drive axis data types.
8 Safety Fault When the Safety Fault bit is set, it indicates that there is one or more fault conditions that 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 via a CIP Safety connection.
9…31 Reserved -

Axis I/O Status

Usage Access T Data Type Default Min Max Semantics of Values

Required - E GSV T DWORD - - - Bitmap
0 = Enable Input
1 = Home Input
2 = Registration 1 Input
3 = Registration 2 Input
4 = Positive Over-travel Input
5 = Negative Over-travel Input
6 = Feedback 1 Thermostat
7 = Resistive Brake Output
8 = Mechanical Brake Output
9 = Motor Thermostat Input
The 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 motion 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.

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Axis I/O Status - MFG

Usage Access T Data Type Default Min Max Semantics of Values

Required - E GSV T DWORD - - - Bitmap
0 = Regenerative Power Input
1 = Bus Capacitor Module Input
2 = Contactor Enable Output
3 = Pre-Charge Input
The Axis I/O Status - MFG attribute is a collection of bits indicating the state of vendor specific digital inputs associated with the operation of this motion 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.

Axis Status

Usage Access T Data Type Default Min Max Semantics of Values

Required - E GSV T DWORD - - - Bitmap
0 = Local Control Status
1 = Alarm Status
2 = DC Bus Up Status
3 = Power Structure Enabled Status
4 = Motor Flux Up Status
5 = Tracking Command Status
6 = Position Lock Status
7 = Velocity Lock Status
8 = Velocity Standstill Status
9 = Velocity Threshold Status
10 = Velocity Limit Status
11 = Acceleration Limit Status
12 = Deceleration Limit Status
13 = Torque Threshold Status
14 = Torque Limit Status
15 = Current Limit Status
16 = Thermal Limit Status
17 = Feedback Integrity Status
18 = Shutdown Status
19 = In Process Status
20 = DC Bus Upload Status
21 = AC Power Loss Status
22 = Position Control Mode
23 = Velocity Control Mode
24 = Torque Control Mode
25…31 = Reserved
The Axis Status attribute is a collection of standard bits indicating the internal status of the motion axis.

Output Cam Status

Usage Access T Data Type Default Min Max Semantics of Values

Required - E GSV(1) T DINT - - - Set of Output Cam Status bits.
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 MDOC instruction.
These attributes, and all the output cam status words, are bit patterns where each bit refers to an output cam target. For example, bit 0 is output cam target 0 and so on. This is true of
all the output cam status words. Each of these bits correspond to an output cam target

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

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Output Cam Pending Status

Usage Access T Data Type Default Min Max Semantics of Values

(1)
Required - E GSV T DINT - - - Set of Output Cam Pending Status bits.
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 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 MDOC instruction.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

Output Cam Lock Status

Usage Access T Data Type Default Min Max Semantics of Values
Required - E GSV(1) T DINT - - - Set of Output Cam Lock Status bits.
The Output Cam Lock Status bit is set when an Output Cam has been armed. This would be initiated by executing an 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 MDOC instruction.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

Output Cam Transition Status

Usage Access T Data Type Default Min Max Semantics of Values

(1)
Required - E GSV T DINT - - - Set of Output Cam Transition Status bits.
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 an MDOC instruction.

(1) Direct Tag access is supported. Bit names shown are uses as data type member names in the Logix Designer application and are shown in the semantics column.

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Motion Alarm Bits and Motion Fault Bits

Usage Access T Data Type Default Min Max Semantics of Values

(1)
Required - All GSV T DINT - - - Bitmap - MotionAlarm
0 = Reserved
1 = SoftTravelLimitPositiveAlarm
2 = SoftTravelLimit NegativeAlarm
3…31 = Reserved
Required - All GSV(1) T DINT - - - Bitmap - MotionFault
0 = Reserved
1 = SoftTravelLimitPositiveFault
2 = SoftTravelLimitNegativeFault
3…31 = Reserved
These two attributes are a bitmapped collection of the fault and alarm exception conditions associated with the Motion Planner function. When one of the listed motion exception
conditions is detected by the controller, the condition is indicated as a Fault or Alarm according to the associated Motion Exception Action attribute value. In general, alarms are
considered warnings by the control system while faults result in some form of action to stop the axis.
This table defines the current list of motion exception conditions from which the Motion Fault and Motion Alarm bits are derived.

Table 24 - Motion Alarm Bits and Motion Fault Bits Descriptions

Bit Exception Description
0 Reserved
1 Soft Travel Limit - Positive Actual position has exceeded the Soft Travel Limit - Positive value.
2 Soft Travel Limit - Negative Actual position has exceeded the Soft Travel Limit - Negative value.
3…31 Reserved -

Soft Travel Limit - Positive

This exception condition occurs when Soft Travel Checking is enabled and when actual position has exceeded the configured Soft Travel Limit - Positive attribute value
while commanding motion in the positive direction. A Soft Travel Limit - Positive exception is generated.
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 by 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.
Soft Travel Limit - Negative
This exception condition occurs when Soft Travel Checking is enabled and when actual position has exceeded the configured Soft Travel Limit - Negative attribute value
while commanding motion in the negative direction. A Soft Travel Limit - Negative exception is generated.
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 by 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.
See Exception Actions on page 321 for more information.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

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Axis Statistical Attributes These are the attributes that provide useful statistics on motion axis operation.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Control Power-up Time

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL - - - Seconds
Elapsed time since axis control power was last applied.

Cumulative Run Time

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL - - - Hours
Accumulated time that the axis has been powering the Running state.

Cumulative Energy Usage

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL - - - Kilowatt Hours
Accumulated output energy of the axis.

Cumulative Motor Revs

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D MSG LINT - - -
Cumulative number of times motor shaft has turned. (Rotary Motors Only)

Cumulative Main Power Cycles

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG DINT - - -
Cumulative number of times AC Mains has been cycled.

Cumulative Control Power Cycles

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG DINT - - -
Cumulative number of times Control Power has been cycled.

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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 Type Default Min Max Semantics of Values
Required - E GSV(1) DINT 0 0 8 # of Targets
Represents the number of Output Cam nodes attached to this axis.
The Output Cam Execution Targets attribute is used to specify the number of Output Cam nodes attached to the axis. This attribute can to be set only 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.

(1) These attributes can be set only when the axis instance is created.

Master Input Configuration Bits

Usage Access Data Type Default Min Max Semantics of Values
Required - E SSV DINT 0x01 - - Bitmap
PV 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.

Master Position Filter Bandwidth

Usage Access Data Type Default Min Max Semantics of Values
2 (1)
Required - E SSV REAL 0 0 1000 Hertz
PV only 1/(4*CUP) 1/CUP Valid when Master Position Filter is enabled.
A value of 0 disables the filter.
CUP = Coarse Update Period
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.

(1) Minimum Range limits based on Coarse Update Period are ultimately enforced 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.

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Table 25 - Master Input Configuration Bit Descriptions

Bit Name Description
0 Master Delay By default, both the Position Camming and Gearing functions, when applied to a slave axis, perform Master Delay Compensation to
Compensation 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 ensures
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.
Because 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 generally 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 four times 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 first 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. Because the Logix controller generates the command position directly, there is no intrinsic master
position delay to compensate for.
1 Master Position The Master Position Filter bit controls the activity of an independent single-poll low-pass filter that effectively filters the specified
Filter 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. 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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Motion Exception Action

Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix USINT 4 (D) - - Enumeration for Drive Modes (D)
Designer 2 (N) 0 = Ignore
1 = Alarm
2 = Fault Status Only
3 = Stop Planner
4 = Stop Drive
5 = Shutdown
Enumeration for Feedback Only
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.
See Stopping Action on page 218 when by using the exception Stop Drive.

Table 26 - 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 affect 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 unaffected.
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 affect 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 unaffected.
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 Stop Drive The Stop Drive action results in the controller 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.
See Stopping Action on page 218 when by using the exception Stop Drive.
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.

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Soft Travel Limit Checking

Usage Access Data Type Default Min Max Semantics of Values
Required - E SSV SINT 0 0 1 0 = No
1 = Yes
The Soft Travel Limit Checking attribute is a boolean value that determines if the system should check for a 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 Soft Travel Limit Positive and Soft Travel Limit
Negative 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 Motion Planner. For CIP Drive axis data types, Soft Travel Limit
Checking has no affect if the Travel Mode is configured for Cyclic (Rotary) operation. Software travel limit checking is valid only when the Rotary attribute boolean value is set to false,
for example, when configured for non-cyclic (Rotary) operation.
Soft Travel Limit Checking has no affect 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.
For more information about Absolute Position Recovery (APR), see the Axis Homed Status on page 81 and the Integrated Motion Configuration and Startup User Manual, publication
MOTION-UM003.

Soft Travel Limit, Positive and Negative

Usage Access Attribute Name Data Type Default Min Max Semantics of Values
Required - E SSV Soft Travel Limit - Positive REAL 0 -maxpos maxpos Position Units
Required - E SSV Soft Travel Limit - Negative REAL 0 -maxpos maxpos Position Units
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.
Soft Travel Limit - Negative 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 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.
This attribute provides configurable software travel limits via 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 Soft 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 travel range, the Soft Travel limit exception is not generated.
When Soft Travel Limit Checking is enabled, appropriate values for the maximum travel for 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 SSV DINT 0 -1 * MUP 2 * MUP Seconds
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 or the device applies the command position accordingly to the associated time stamp. A non-zero value would have the
affect of phase advancing or retarding the axis position relative to a master axis.

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Motion Database Storage These are the database storage attributes associated with a Motion Control Axis.
These attributes are used to store the original floating point values that are used
Attributes for subsequent uploads.

System Acceleration Base

Usage Access Data Type Default Min Max Semantics of Values
Required- All Logix Designer REAL 0 - - Motor Units/sec2 @ 100 % Rated
A floating point value that represents the acceleration of the selected unloaded motor based on 100% Rated current. It is used to compute System Inertia. It is used to store the
original System Acceleration value also for subsequent upload.

Drive Model Time Constant Base

Usage Access Data Type Default Min Max Semantics of Values
Required- All Logix Designer REAL .0015 - - Seconds
A floating point value that represents the lumped model time constant associated with the drive device for the purposes of computing loop gains. It is used to store the original Drive
Model Time Constant value also for subsequent upload. The Drive Model Time Constant Base is computed based on the current loop bandwidth, the velocity loop update time, and the
feedback sample period.

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Motion Scaling Attributes These are the basic motion-scaling configuration attributes associated with a
Motion Control Axis. These attributes are involved in the conversion between
position, speed, and acceleration expressed in Motion Counts and Motion Units,
and the user-defined Position Unit of the axis. The motion scaling function is
also involved in the 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 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 Drive Scaling mode the controller is responsible for Position Unwind operations
associated with Cyclic Travel Mode.
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 the conversion to equivalent Feedback Counts and Motor Units. In Drive Scaling mode the drive is responsible also for Position
Unwind operations associated with Cyclic Travel Mode.

Scaling Source
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV USINT 0 - - Enumeration
0 = From Calculator
1 = Direct Scaling Factor Entry
2…255 = Reserved
The Scaling Source attribute, for example, determines 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 by 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.

IMPORTANT Configuration of Scaling page parameters is required for any

attributes expressed in position, velocity, or acceleration units to
return meaningful values.

Travel Mode
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV/GSV USINT 0 - - Enumeration
0 = Unlimited
1 = Limited (E)
2 = Cyclic (E)
3…255 = Reserved
The Travel Mode attribute determines 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, for example, Encoderless/Sensorless operation, then the only valid Travel Mode setting is Unlimited.

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Position Scaling Numerator

Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV REAL 1 0+  Position Units
The Position Scaling Numerator attribute is 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 GSV REAL 1 0+  Motion Unit
The Position Scaling Denominator attribute is a floating point value used by the scaling calculator to determine the number of Motion Units per Position Scaling Numerator units
(Position Units).

Position Unwind Numerator

Usage Access Data Type Default Min Max Semantics of Values
Required - E GSV REAL 1 0+  Position Units
The Position Unwind Numerator attribute is 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 GSV REAL 1 0+  Unwind Cycles
The Position Unwind Denominator attribute is 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 GSV REAL 1 0+  Position Units
The Travel Range attribute is 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.

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Motion Unit
Usage Access Data Type Default Min Max Semantics of Values
Required - All 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
The Motion Unit attribute determines the unit of measure used to express the Motion Resolution used by Motion Planner functions.

Motion Resolution
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV DINT Default 1 231-1 Motion Counts/Motion Unit
Motion
Resolution
The Motion Resolution attribute is an integer value that determines the number of Motion Counts per Motion Unit used by the used by the scaling function to convert between Motion
Counts and Feedback Counts.
The Motion Resolution 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.
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.
Motion Resolution/Conversion Constant = Position Units/Motion Unit (rev, inch, or millimeter)
In general, the Motion Resolution value may be configured in Motion Counts per Motion Unit independent of the resolution of the feedback devices used. The control system takes care
of scaling Feedback Counts to 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.
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 this table.
This value is computed automatically if Scaling Source is 'From Calculator'.

Table 27 - Feedback and Load Type Unit Description

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

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Table 27 - Feedback and Load Type Unit Description (Continued)

Feedback Configuration Load Type Linear Actuator Unit Motion Unit
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 this table.

Table 28 - Motion Resolution for Scaling Factors

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:

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 rollover, essentially flipping the sign of the axis position
value. Motion continues smoothly through the rollover, but the position values
are obviously not contiguous. This is nominal operation in Unlimited Travel

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mode. While it is relatively rare for this travel range limitation to present an
anomaly, 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, which could
affect 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 the 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 Resolution Value Examples

These examples demonstrate how the Motion Resolution value can be used
together with the Conversion Constant to handle various machine applications.

Direct-drive Rotary Shear Application

In this mechanical configuration, there is a rotary motor 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. However, because Motion Resolution is configurable, you can
set the Motion Resolution to 300,000 Motion Counts/Motor Rev. 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.

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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 with Gearbox Application

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. Because
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 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
Output to 3. In this way, 300,000 Motion Counts/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 is expressed as Motion

Counts per Load millimeter or Load inch, in this, millimeter.

The motor feedback is, however, rotary and resolution expressed in Motor
Feedback Counts/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 is 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 Output 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.

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Motion Polarity
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV USINT 0 0 1 Enumeration
0 = Normal Polarity
1 = Inverted Polarity
2…255 = Reserved
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 the 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 Controller Scaling, the Motion Polarity inversion is performed on the controller side of the CIP
Motion Connection interface. When the Motion Scaling Configuration is set to Drive Scaling, the Motion Polarity inversion is performed on the drive side of the CIP Motion Connection
interface. 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 is defined in Table 29.

Table 29 - Signal Attribute Access

ID Access Signal Attribute Name ID Access Signal Attribute Name
1402 + o Get Feedback n Position 434 MSG Position Feedback
1403 + o Get Feedback n Velocity 370 Get Skip Speed 1
1404 + o Get Feedback n Acceleration 371 Get Skip Speed 2
2380 + o MSG Feedback nU Position 372 Get Skip Speed 3
2381 + (n-1)*50 MSG Feedback nU Velocity 780 MSG Position Integral Feedback
2382 + (n-1)*50 MSG Feedback nU Acceleration 436 Get Position Error
2383 + (n-1)*50 MSG Feedback nS Position 437 Get Position Integrator Output
2384 + (n-1)*50 MSG Feedback nS Velocity 438 Get Position Loop Output
2385 + (n-1)*50 MSG Feedback nS Acceleration 450 MSG Velocity Command
62 Get Registration 1 Positive Edge Position 451 Set Velocity Trim
63 Get Registration 1 Negative Edge Position 452 Get Acceleration Feedforward Command
64 Get Registration 2 Positive Edge Position 453 Get Velocity Reference
65 Get Registration 2 Negative Edge Position 454 Get Velocity Feedback
70 Get Home Event Position 455 Get Velocity Error
360 Set Controller Position Command - Integer 456 Get Velocity Integrator Output
356 Get Fine Command Position 457 Get Velocity Loop Output
366 Get Fine Command Velocity 480 Get Acceleration Command
367 Get Fine Command Acceleration 481 Set Acceleration Trim
430 MSG Position Command 482 Get Acceleration Reference
431 Set Position Trim 483 Get Acceleration Feedback
432 Get Position Reference 801 Get Load Observer Acceleration Estimate
433 Get Velocity Feedforward Command 802 Get Load Observer Torque Estimate
434 MSG Position Feedback 780 MSG Position Integral Feedback
490 Get Torque Command 520 Get Iq Current Command
491 Set Torque Trim 521 Get Operative Current Limit
492 Get Torque Reference 523 Get Motor Electric Angle
493 Get Torque Reference - Filtered 545 Get Iq Current Reference
494 Get Torque Reference - Limited 525 Get Id Current Reference

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Table 29 - Signal Attribute Access (Continued)

ID Access Signal Attribute Name ID Access Signal Attribute Name
821 MSG Total Inertia Estimate 840 Set Current Disturbance
527 Get Iq Current Error 533 Get Vq Voltage Output
528 Get Id Current Error 534 Get Vd Voltage Output
529 Get Iq Current Feedback 535 Get U Voltage Output
530 Get Id Current Feedback 536 Get V Voltage Output
531 Get Vq Decoupling 537 Get W Voltage Output
532 Get Vd Decoupling 538 Get U Current Feedback
539 Get V Current Feedback 540 Get W Current Feedback
541 Get U Current Offset 600 Get Output Frequency
542 Get V Current Offset 601 Get Output Current
543 Get W Current Offset 602 Get Output Voltage
565 Get Slip Compensation 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(1), 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(1), and torque limit attribute values in an axis be sign inverted and swapped with respect to the corresponding attributes in the axis. 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 is defined in Table 30.

Table 30 - Directional Limit Attributes

Directional Limit Attribute Name Access ID
Ramp Velocity - Positive Set 374
Ramp Velocity - Negative Set 375
Ramp Acceleration(1) Set 376
Ramp Deceleration(1) Set 377
Position Limit - Positive MSG 448
Position Limit - Negative MSG 449
Velocity Limit - Positive Set 473
Velocity Limit - Negative Set 474
Acceleration Limit(1) Set 485
Deceleration Limit(1) Set 486
Torque Limit - Positive Set 504
Torque Limit - Negative Set 505
(1) Acceleration and Deceleration Limits are unsigned positive values and, therefore, do not need to
be sign inverted.

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Position Units
Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix Designer STRING Position - - Revs
Units
The Position Unit string attribute lets user-defined engineering units rather than counts to be used for measuring and programming all motion-related values, for example, position,
velocity, and acceleration. 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 millimeters 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 the Logix Designer application in the axis configuration dialog boxes to request
values for motion-related parameters in the specified Position Units. Software limits the maximum string length to 15 characters.

Average Velocity Timebase

Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV REAL 0.25 0.001 32 Seconds
1 CUP 1000 CUP
This attribute determines the period of time over which the system computes Average Velocity for this axis instance.
Range limits based on coarse update period (CUP) and history array size are ultimately enforced for the Avg Vel Timebase attribute by clamping to limit rather than generating a value
out-of-range error. An out-of-range error is given only if the value is outside the fixed Min/Max limits. This was done to avoid implementing complex range limit code based on the
Coarse Update Period in RSLogix™ software.

Conversion Constant
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV/GSV REAL Default Motion 10-12 1012 Counts/Position Unit
Resolution
This attribute is used as a scaling factor allowing axis position, velocity, and acceleration attributes to be displayed or configured in the 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.
Be sure to monitor the ConfigUpdateInProcess following the SSV of any module based attribute before moving on, for example, performing a Servo On. The Conversion Constant
attribute is a controller only attribute, but it results in the sending of multiple module based attributes.

Position Unwind
Usage Access Data Type Default Min Max Semantics of Values
Required - E SSV DINT Default Motion 1 109 Counts/Cycle
Resolution
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.

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Motion Homing Configuration These are the motion homing configuration attributes associated with a Motion
Control Axis.
Attributes
Home Mode

Usage Access Data Type Default Min Max Semantics of Values

Required - E SSV USINT 1 - - Enumeration
0 = Passive
1 = Active (!N)
2…55 = Reserved
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 are two Homing modes supported by the Motion Axis: active and passive. Active Homing is the most common homing procedure for physical axes, but does not
apply when Axis Configuration is Feedback Only because it requires active control of the axis.
Table 31 - Homing Mode Descriptions
Homing Mode Description
Active When Active Homing mode is chosen, the home operation enables the axis, if necessary, and then controls the home process.
The difference between Active and Passive modes is that Passive mode does not alter the axis state, nor does it cause any motion.
When Active Homing mode is chosen as the Homing mode, the desired homing sequence is then selected by specifying whether a home
limit switch and/or the encoder marker is used for this axis. Active Homing sequences always use the trapezoidal velocity profile.
If the configured feedback type does not support a marker signal, the `marker’ and `switch then marker’ homing sequences are not be
applicable.
Passive Passive Homing mode redefines the current absolute position of the axis on the occurrence of a home switch or encoder marker event.
Passive Homing mode is most commonly used to calibrate uncontrolled axes, although it can also be used with controlled axes to create a
custom homing sequence.
Passive Homing mode, for a given home sequence, works similarly to the corresponding Active Homing mode sequence, as described above,
except that no motion is commanded—the controller just waits for the switch and marker events to occur. If the configured feedback type
does not support a marker signal, then the marker and switch homing sequences are not applicable.

Home Direction

Usage Access Data Type Default Min Max Semantics of Values

Required - E SSV USINT 1 - - Enumeration
PV only 0 = Unidirectional Forward
1 = Bidirectional Forward
2 = Unidirectional Reverse
3 = Bidirectional Reverse
4…255 = Reserved
The Home Direction attribute is the starting direction of a Homing Sequence when configured for active Homing Mode.
Only valid for position and Velocity Control.

Home Sequence
Required - E 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
The Home Sequence attribute is filtering based on Feedback Type.

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Table 32 - Homing Sequence Type Descriptions

Homing Sequence Types Description
Active Homing The available active homing sequences are described in detail below with the assumption that the Home Direction is always forward.
Active homing sequences, with the exception of the Immediate home sequence type, employ trapezoidal jog velocity profiles to move the axis
while waiting for a homing event to occur. When Active is the configured Home Mode, the Home Sequence attribute is used to specify whether a
home limit switch and/or the feedback device marker is to be used for the homing events.
The Home Direction attribute determines the directional behavior of jog profiles associated with the specified homing sequence. Unidirectional
and Bidirectional refer to whether the jog is to reverse direction after detecting the homing event. Forward and Reverse refer to the direction of
the initial jog during the homing process.
When active homing is chosen as the homing mode, the desired homing sequence is then selected by specifying whether a home limit switch
and/or the encoder marker is used for this axis. Active homing sequences always use the trapezoidal velocity profile.
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.
Active Bidirectional Home with This active homing sequence is useful when an encoder marker is not available. When this sequence is performed, the axis moves in the specified
Switch Home Direction at the specified Home Speed until the home limit switch is detected. The axis then decelerates to a stop and then moves in the
opposite direction at the specified Home Return Speed 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.
The axis position is updated based on the Home Position and Home Offset.
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 motions for this active homing sequence are shown below.

Active Bidirectional Home with Switch then Marker

Homing Vel

1
Axis Velocity

3
Axis Position

Return Vel

1: Home Limit Switch Detected

2: Home Limit Switch Cleared
3: Home Position

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 ms) 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 in/s (6 IPM) is specified, the uncertainty of the home position is calculated as shown below:
Uncertainty = 0.1 In/sec * 0.01 s = 0.001 in.

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Table 32 - Homing Sequence Type Descriptions (Continued)

Homing Sequence Types Description
Active Bidirectional Home with This active homing sequence is useful for single turn rotary and linear encoder applications because these have only one encoder marker for full
Marker axis travel. When this sequence is performed, the axis moves in the specified Home Direction at the specified Home Speed 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.
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 by 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
homing sequence is shown below.

Active Bidirectional Home with Marker

Homing Vel

1
Axis Velocity

2
Axis Position

Return Vel

1: Encoder Marker Detected

2: Home Position

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 ms) and the specified Home Speed.
For example, if a Home Speed of 1 in/s (60 IPM) is specified, the uncertainty of the home position is calculated as shown below:
Uncertainty = 1 in/s * 0.001 s = 0.000001 in.

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Table 32 - Homing Sequence Type Descriptions (Continued)

Homing Sequence Types Description
Active Bidirectional Home with This is the most precise active homing sequence available. When this sequence is performed, the axis moves in the specified Home Direction at the
Switch then Marker specified Home Speed until the home limit switch is detected. The axis then decelerates to a stop and moves in the opposite direction at the
specified Home Return Speed 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. 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 by 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 homing sequence is shown below.
Active Bidirectional Home with Switch then Marker

Homing Vel

1
Axis Velocity

4
Axis Position
2

3 Return Vel

1: Home Limit Switch Detected

2: Home Limit Switch Cleared
3: Encoder Marker Detected
4: Home Position

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.
Active Unidirectional Home with Unidirectional home is usually used when the physical axis can't change directions.
Switch This active homing sequence is useful for when an encoder marker is not available and either unidirectional motion is required or a 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 until
the home switch is detected. The Home Position is assigned to the axis position at the moment that the limit switch is detected. 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 switch is detected by this value. The controller then
continues to move the axis to the Home Position at the specified Home Speed by using a trapezoidal move profile.
By setting a Home Offset greater than the deceleration distance, unidirectional motion to the Home Position is ensured. However, if the Home
Offset value is less than the deceleration distance, then the axis is simply decelerated to a stop. 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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Table 32 - Homing Sequence Type Descriptions (Continued)

Homing Sequence Types Description
Active Unidirectional Home with This active homing sequence is useful for single turn rotary and linear encoder applications when unidirectional motion is required.
Marker When this sequence is performed in the Active Homing Mode, the axis moves in the specified Home Direction at the specified Home Speed until
the marker is detected. The Home Position is assigned to the axis position at the moment that the marker is detected. 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 by using a trapezoidal move profile.
The axis position are updated based on the Home Position and Home Offset. Even if the Home Offset is zero, the position of updated. Zero is a valid
number.
By setting a Home Offset greater than the deceleration distance, unidirectional motion to the Home Position is ensured. However, if the Home
Offset value is less than the deceleration distance, then the axis is simply decelerated to a stop. 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 with This active homing sequence is useful for multi-turn cyclic applications when unidirectional motion is required.
Switch then Marker When this sequence is performed in the Active Homing Mode, the axis moves in the specified Home Direction at the specified Home Speed until
the home switch is detected. The axis continues in the same direction at the Home Speed until the first marker event is detected. The Home
Position is assigned to the axis position at the precise position where the marker was detected, and the axis then decelerates to a stop. 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 by using a trapezoidal move profile.
By setting a Home Offset greater than the deceleration distance, unidirectional motion to the Home Position is ensured. However, if the Home
Offset value is less than the deceleration distance, then the axis is simply decelerated to a stop. 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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Table 32 - Homing Sequence Type Descriptions (Continued)

Homing Sequence Types Description
Active Home to Torque The Home to Torque Level sequence is a type of homing used when a hard stop is going to be used as the home position, as in 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 torque level specified by the user.
Because the home to torque level 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.
In Torque Level homing, the torque event is the trigger. The Motion Planner decelerates the axis to a stop and reverses direction. The torque event
is usually some type of hard stop. Because of this, the physical axis can't move, but the position command is changing. This causes the Position
error to increase. If the distance required to decelerate is greater than the Position error Tolerance, an Excessive Position error exception can occur,
possibly cancelling the home operation.
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.
Torque Level homing is very similar to Home Switch homing, with the exception that the torque level is used instead of the home switch input.
This graphic depicts the Position/Velocity for Torque Level Homing.
Torque Level Homing

Homing Vel 1

2
Axis Velocity

4
Axis Position

3
Return Vel

1: End of Travel / Hard Stop

2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
4: Home Position

Torque Level-Marker Homing is very similar to Home Switch-Marker Homing, with the exception that the torque level is used instead of the home
switch input. This graphic depicts the Position/Velocity for Torque Level-Marker Homing.
Torque Level - Marker Homing

Homing Vel 1

2
Axis Velocity

5
Axis Position

3
4 Return Vel

1: End of Travel / Hard Stop

2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
and Arm Regestration for Encoder Marker
4: Encoder Marker Detected
5: Home Position

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.

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Table 32 - Homing Sequence Type Descriptions (Continued)

Homing Sequence Types Description
Passive Home with Switch This passive homing sequence is useful for 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.
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 SSV DINT 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.
See Home Direction on page 104 for more information about starting direction.

Home Position

Usage Access Data Type Default Min Max Semantics of Values

Required - E SSV REAL 0 -maxpos maxpos Position Units
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 can
be left at the specified Home Position:
• If Bidirectional homing, the axis is left at the Home Position.
• If undirectional homing and Travel Mode = 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), can also be used. (A description of the
Maximum Positive and Negative Travel configuration attributes can 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 SSV REAL 0 -maxpos maxpos Position Units
When applied to an active or passive Homing Mode, by 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 bi-directional 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.
Not valid for immediate Home Sequence.

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Home Speed

Usage Access Data Type Default Min Max Semantics of Values

Required - E 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.
Valid for non-immediate cases of active Home Mode. Only valid for position and Velocity Control.

Home Return Speed

Usage Access Data Type Default Min Max Semantics of Values

Required - E 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 bi-directional homing sequence as described in the above discussion of the
Home Sequence Type attribute.
Valid for non-immediate cases of active Home Mode. Only valid for position and Velocity Control.

Motion Dynamic Configuration These are the motion dynamic configuration attributes associated with a Motion
Control Axis.
Attributes
Maximum Speed
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV SSV REAL FD 0 maxspd Position Units/Sec
The value of the Maximum Speed attribute is used by various motion instructions to determine the steady-state speed of the axis. These instructions all have the option of specifying
speed as a percent of the Maximum Speed attribute value for the axis. This value is typically set to ~90% 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 Type Default Min Max Semantics of Values
Required - FPV SSV Maximum Acceleration REAL FD 0 maxacc Position Units/Sec2
Required - FPV SSV Maximum Deceleration REAL FD 0 maxacc Position Units/Sec2
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 ~85% 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. These values are typically set to ~85% 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.

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Programmed Stop Mode

Usage Access Data Type Default Min Max Semantics of Values

Required - All SSV USINT 0 - - Enumeration
0 = Fast Stop (default)
1 = Fast Disable
2 = Hard Disable
3 = Fast Shutdown
4 = Hard Shutdown
The Programmed Stop Mode attribute value 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 executed with its stop mode is set to `programmed’.
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.
For axes running in Velocity, Torque or Frequency control mode (the latter is only available with CIP), if an axis' Programmed Stop Mode' is set to fast stop then when a controller mode
change is done, this axis will have its servo disabled.
There is a time-out period of 60 seconds applied to the programmed stop process, after which the mode change occurs, 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. Four methods of stopping a given axis are currently supported.
The MSG instructions also use the same 60 second time-out as it also holds off mode change until active messages either complete or time-out. Axes running in Velocity, Torque or
Frequency control (Frequency control is only available with CIP) and if an axis Programmed Stop Mode is set to fast stop then when a controller mode change is done, this axis will
have its servo disabled.

Table 33 - Programmed Stop Mode Methods

Method Description
Fast Stop When the Programmed Stop Mode attribute is configured for Fast Stop, the axis is decelerated to a stop by 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 by 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 and Servo Action disabled,
but the OK contact is left closed. Unless the drive is configured to provide some form of dynamic breaking, 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 and 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 and
Servo Action disabled. Unless the drive is configured to provide some form of dynamic breaking, this results in the axis coasting to a
stop. Recovering 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 SSV REAL FD 0  Position Units/Sec3
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.
Maximum Acceleration Jerk can 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 SSV REAL FD 0  Position Units/Sec3
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
acceleration jerk is specified as a percent of the Maximum. This value is only used by an S-Curve profile.
Maximum Deceleration Jerk can 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 - FPV SSV DWORD 0:1 - - Bitmap
1:1 0 = Reduce S-Curve Stop Delay
2.0 1 = Prevent S-Curve Velocity 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.
Table 34 - Dynamics Configuration Bits Descriptions
Bit Name Description
0 Reduce S-Curve Stop Delay Enable/disable the reduction of latency time when stopping motion with S-Curve
velocity profile (MAS instruction).
1 Prevent S-Curve Velocity Reversals Enable/disable 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.
This bit limits the velocity overshoot to 50% of the programmed velocity by increasing
the acceleration jerk as necessary.
3…31 Reserved -

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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.

The Usage category for an attribute is based on the Motor Type. Where needed,
Standard versus Optional can be further differentiated by abbreviations for PM
(Permanent Magnet) and IM (Induction Motors). Within the PM Motor family,
there is further differentiation for SPM (Surface PM) and IPM (Interior PM)
motors. It is implied that these motor attributes are applicable to all drive modes,
F, P, V, and T, but not applicable for N, or No Control axis configurations where
there is no active control function.

This section defines the minimal set of required attributes to support integrated
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.

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 = L, where  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.

Figure 7 - 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.

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General Motor Attributes These are the general motor attributes that apply to all motor technologies.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Motor Catalog Number

Usage Access Data Type Default Min Max Semantics of Values
Required - D Logix Designer SHORT STRING - - - For example, MPL-B310F
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.

Motor Serial Number

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG SHORT STRING - - - For example, 0012003400560078
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 Date Code

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG SHORT STRING - - - For example, Jan-01-2005
Motor NV
A 16-character string that specifies the manufacturing date of the motor. If the Motor Date Code is not available, the drive sets this attribute to a Null string.

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Motor Data Source

Usage Access Data Type Default Min Max Semantics of Values

Required - D GSV USINT 0 - - Bits 0-3: Enumeration
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 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 axis 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 the nonvolatile 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 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 rejects the values with General Status indicating an Invalid Attribute
Value.
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 - D GSV UDINT 0 0 232-1
DB
The Motor Device Code attribute is a unique number assigned to a motor catalog number. This value is used to ensure 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 valid only 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 is accepted by the drive
without comparison.

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Motor Type

Usage Access Data Type Default Min Max Semantics of Values

Required - D SSV/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 are not set by configuration software or
sent to the drive.
If Motor Data Source is Motor NV or Drive NV, the Motor Type can 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.
A Motor Type of Rotary Permanent Magnet or Linear Permanent Magnet is specifically associated with Surface Permanent Magnet (SPM) motor technology.
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 - D 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 because 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

(1)
Optional - D SSV USINT 0 - - Enumeration
DB 0 = Normal Polarity
1 = Inverted Polarity
2…255 = Reserved
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.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Motor Rated Voltage

Usage Access Data Type Default Min Max Semantics of Values

Required - D 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 - D 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.

Motor Rated Peak Current

Usage Access Data Type Default Min Max Semantics of Values

Required - PM 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 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 the motor
under full load conditions at rated current, speed, and voltage.

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Motor Overload Limit

Usage Access Data Type Default Min Max Semantics of Values

Optional - D GSV REAL 100 0 200 % Motor Rated
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 motors 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.
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 be used by the drive to determine the absolute thermal capacity limit of the motor, i.e. 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 - D GSV SINT 0 0 1 0 = No
DB 1 = Yes
The Motor Integral Thermal Switch attribute is a Boolean value that specifies if the motor has an integral thermal switch to check to detect a Motor Overtemperature condition.
Connection to the motor thermal switch can be via the motor feedback interface, associated with Axis I/O Status bit, Feedback 1 Thermostat, or via 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 - D 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 - D GSV REAL 0 0  Joules /°C
DB
The Motor Winding to Ambient Capacitance attribute is a floating point value that specifies the winding-to-ambient thermal capacitance.

Motor Winding to Ambient Resistance

Usage Access Data Type Default Min Max Semantics of Values

Optional - D GSV REAL 0 0  °C/Watt
DB
The Motor Winding to Ambient Resistance attribute is a floating point value that specifies the winding-to-ambient thermal resistance.

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General Permanent Magnet Motor These are the motor configuration attributes that apply to Permanent Magnet
Attributes motor types in general.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

PM Motor Resistance
Usage Access Data Type Default Min Max Semantics of Values
Required - D SSV (1)
REAL 0 0  Ohms
DB
The PM Motor Resistance attribute is a floating point value that specifies the phase-to-phase resistance of a permanent magnet motor.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

PM Motor Inductance
Usage Access Data Type Default Min Max Semantics of Values
Required - D SSV (1)
REAL 0 0  Henries
SPM Only DB
The PM Motor Inductance attribute is a floating point value that specifies the phase-to-phase inductance of a permanent magnet motor.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

PM Motor Flux Saturation

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL[8] [100, 100, 100, 100, 100, 100, 100, 100] - - % Nominal Inductance
SPM Only Logix Designer 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%.)

PM Motor Lq Inductance
Usage Access Data Type Default Min Max Semantics of Values
Required MSG REAL 0 -  Henries
IPM Only Logix Designer DB
A floating point value that specifies the phase-to-phase, q-axis, inductance of an interior permanent magnet motor.

PM Motor Ld Inductance
Usage Access Data Type Default Min Max Semantics of Values
Required MSG REAL 0 -  Henries
IPM Only Logix Designer DB
A floating point value that specifies the phase-to-phase, d-axis, inductance of an interior permanent magnet motor.

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PM Motor Lq Flux Saturation

Usage Access Data Type Default Min Max Semantics of Values
Optional MSG REAL [100, 100, 100, 100] - - % Nominal Inductance
IPM Only Logix Designer DB
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 Continuous Current Rating. (At zero current, the motor is assumed to have no saturation, for example, an implied value of 100%.)

PM Motor Ld Flux Saturation

Usage Access Data Type Default Min Max Semantics of Values
Optional MSG REAL 100 - - % Nominal Inductance
IPM Only Logix Designer DB
A floating point value that specifies 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 flux saturation at 100% of the Continuous Current Rating.

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Chapter 2 CIP Axis Attributes

General Rotary Motor Attributes These are the motor configuration attributes that apply specifically to rotary
motor types.
Rotary Motor Poles
Usage Access Data Type Default Min Max Semantics of Values
Required - D 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0  Inertia Units
DB
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 Type Default Min Max Semantics of Values
Required - D 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 the 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.

Rotary Motor Max Speed

Usage Access Data Type Default Min Max Semantics of Values
Optional - D 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 is 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 motor speed, maximum encoder speed, or 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 Type Default Min Max Semantics of Values
Optional - D 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 Type Default Min Max Semantics of Values
Optional - D 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 Type Default Min Max Semantics of Values
Optional - D GSV REAL 0 0  % Motor Rated
The Rotary Motor Fan Cooling Derating attribute selects the percent 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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General Linear Motor Attributes These are the motor configuration attributes that apply specifically to linear
motor types.

Linear Motor Pole Pitch

Usage Access Data Type Default Min Max Semantics of Values
Required - D GSV REAL 50 0  mm
DB
The Linear Motor Pole Pitch attribute is a floating point value that specifies the pole pitch of a linear motor in units of millimeters, and is equivalent to the electrical cycle length.

Linear Motor Rated Speed

Usage Access Data Type Default Min Max Semantics of Values
Required - D 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0  Mass Unit
DB
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 Type Default Min Max Semantics of Values
Optional - D 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 meter/second. This speed is
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.

Linear Motor Damping Coefficient

Usage Access Data Type Default Min Max Semantics of Values
Optional - D 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 Type Default Min Max Semantics of Values
Optional - D GSV SINT 0 1 0 = No
DB 1 = Yes
The Linear Motor Integral Limit Switch attribute is a Boolean value that specifies if the motor has integral limit switches.

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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 - D GSV REAL 0 0  N•m
DB
The PM Motor Rated Torque attribute is a floating point value 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 - D SSV(1) REAL 0 0  N•m/A (RMS)
DB
The PM Motor Torque Constant attribute is a floating point value that specifies the torque constant of a rotary permanent magnet motor in Newton-meters per RMS amp.

(1) These configuration attributes cannot be changed with a Set service or SSV instruction if the axis is in the Running state.

PM Motor Rotary Voltage Constant

Usage Access Data Type Default Min Max Semantics of Values
Required - D SSV (1)
REAL 0 0  Volts (RMS)/KRPM
DB
The PM Motor Rotary Voltage Constant attribute is a floating point value 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) = 0.01654 * Ke (V/Krpm).

(1) These configuration attributes cannot be changed with a Set service or SSV instruction if the axis is in the Running state.

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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 Type Default Min Max Semantics of Values
Optional - D GSV REAL 0 0  N
DB
The PM Motor Rated Force attribute is a floating point value that specifies the nameplate continuous force rating of a linear permanent magnet motor.

PM Motor Force Constant

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV(1) REAL 0 0  N/Amp (RMS)
DB
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.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

PM Motor Linear Voltage Constant

Usage Access Data Type Default Min Max Semantics of Values
Required - D SSV (1)
REAL 0 0  Volts (RMS)/(m/s)
DB
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/second.
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 these equation: Kf (N/A) = 1.732 * Ke (V/(m/s)).

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

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Induction Motor Attributes These are the motor configuration attributes that apply specifically to induction
motor types.

Induction Motor Rated Frequency

Usage Access Data Type Default Min Max Semantics of Values
Required - D GSV REAL 0 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 Type Default Min Max Semantics of Values
Required - D SSV(1) REAL 0 0  Amps (RMS)
DB
Eq 19
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.

(1) This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques.
SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Induction Motor Stator Resistance

Usage Access Data Type Default Min Max Semantics of Values
Required - D SSV(1) REAL 0 0  Ohms
DB
Eq 19
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 R1 in the IEEE motor
model.

(1) This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques.
SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Induction Motor Stator Leakage Reactance

Usage Access Data Type Default Min Max Semantics of Values
Optional SSV(1) REAL 0 0  Ohms
DB
Eq 19
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 X1 in the IEEE motor model.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

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Induction Motor Magnetization Reactance

Usage Access Data Type Default Min Max Semantics of Values
Optional - D (1)
SSV (2)
REAL 0 0  Ohms
DB
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 Xm in the IEEE motor model.

(1) This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques.
(2) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Induction Motor Rotor Resistance

Usage Access Data Type Default Min Max Semantics of Values
Optional - D (1)
SSV (2)
REAL 0 0  Ohms
DB
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 R2 in
the IEEE motor model.

(1) This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques.
(2) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Induction Motor Rotor Leakage Reactance

Usage Access Data Type Default Min Max Semantics of Values
Optional SSV(1) REAL 0 0  Ohms
DB
Eq 19
The Induction Motor Rotor Leakage Reactance 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 X2 in the IEEE motor model.

(1) This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques.

Induction Motor Rated Slip Speed

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV(1) REAL 0 0  RPM (rotary motor type)
FD m/s (linear motor type)
The Induction Motor Rated Slip Speed attribute represents the amount of slip at motor rated current (full load) and motor rated frequency.

(1) This parameter has a strong motor temperature component that some drives circumvent through various adaptive control or compensation techniques.

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Load Transmission and Actuator These are the motor configuration attributes that apply specifically to rotary
Attributes transmission and linear actuator mechanisms associated with the axis.

Load Type
Usage Access Data Type Default Min Max Semantics of Values
Required - All 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 by using a rotary system of units. Linear enumeration indicates that the load is moving linearly and
load dynamics are measured by using a linear system of units.

Transmission Ratio Input

Usage Access Data Type Default Min Max Semantics of Values
31-1
Required - All GSV DINT 1 1 2 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 Type Default Min Max Semantics of Values
31-1
Required - All GSV DINT 1 1 2 Output Shaft Revs
DB
The Transmission Ratio Output attribute is an integer number of output shaft revolutions per transmission associated with the rotary transmission.

Actuator Type
Usage Access Data Type Default Min Max Semantics of Values
Required - All 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 Type Default Min Max Semantics of Values
Required - All 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.

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Actuator Lead Unit

Usage Access Data Type Default Min Max Semantics of Values
Required - All 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 Type Default Min Max Semantics of Values
Required - All 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 converted to circumference of the pulley, sprocket, or pinion to determine the amount of tangential displacement per
revolution.

Actuator Diameter Unit

Usage Access Data Type Default Min Max Semantics of Values
Required - All 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.

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Chapter 2 CIP Axis Attributes

Feedback Attributes These are all position feedback related attributes associated with a Motion
Control Axis that apply to various feedback device and feedback interface
technologies. These feedback interface technologies include the following:
• 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 & EnDat 2.2 (by Heidenhain). The Usage column
for an attribute is often based on the context of the Feedback Type. To facilitate
this, abbreviations for the various Feedback Types are defined in Table 35.

Table 35 - Feedback Type Abbreviations

Abbreviation Feedback Type
ED EnDat 2.1 and 2.2
HD Hiperface DSL
HI Hiperface
INT Integrated
LT LDT - Linear Displacement Transducer
RS Resolver
SC Sine/Cosine
SL Stahl SSI
SS SSI
TM Tamagawa Serial
TP Digital Parallel
TT Digital AqB

This section defines the minimal set of required attributes to support integrated
motion device interchangeability. This guarantees that there is sufficient
parametric data provided by the controller for any integrated motion compliant
drive to effectively interface to a wide range of feedback device types.

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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 via 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.

Table 36 - Logical Feedback Channel Control Functions

Logical Feedback Channel Motion Control Function Master Feedback Function
Feedback 1 Motor Feedback & 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 Redundant Motor Feedback Redundant Motor Feedback 1
Feedback 4 Redundant Motor Feedback Redundant Motor Feedback 2

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 the Control Mode is set to No Control for a Motion Control Axis, a
different logical feedback channel can be used as the master feedback source, for
example, Feedback 1 and Feedback 2. Generally, Feedback 1 is used.
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.
To minimize the length of the feedback attribute tables, 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 and 2.
Attribute IDs are assigned based on the channel number. Support for feedback
interface channels 1 and 2 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.

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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
follow the Usage rules. A Usage rule of ‘Req - E’ or ‘Opt - E’ indicates that the
attribute is generally applicable to all Device Function 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.

Table 37 - Feedback Configuration Rules

Feedback Configuration Feedback 1 Feedback 2
No Feedback No No
Master Feedback Yes No(1)
Motor Feedback Yes No
Load Feedback Yes(2) Yes
Dual Feedback Yes Yes
Dual Integrator Feedback Yes Yes
(1) Feedback 2 channel only needed if Feedback Master Select supports Feedback 2 channel option.
(2) Feedback 1 channel needed for commutation of PM Motors.

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General Feedback Info Attributes These are the general feedback information attributes associated with a Motion
Control Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Feedback n Serial Number

Usage Access Data Type Default Min Max Semantics of Values
Optional - E MSG SHORT STRING - - - For example, 0012003400560078
The Feedback n Serial Number attribute is a 16-character string that specifies the serial number of the device associated with Feedback n. If the Feedback Serial Number is not
available, the drive sets this attribute to a Null string.

Feedback n Catalog Number

Usage Access Data Type Default Min Max Semantics of Values
Optional - E MSG SHORT STRING - - - For example, SRM-50
A 32-character string that specifies the catalog number of the device associated with Feedback n. If the Feedback Catalog Number is not available, the drive sets this attribute to a Null
string.

General Feedback Signal Attributes These are the general feedback signal attributes associated with a Motion Control
Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Position Feedback n
Usage Access T Data Type Default Min Max Semantics of Values
Required - E MSG T DINT - - - Feedback n Counts
The Position Feedback n attribute is the actual position of the axis based on Feedback n.

Velocity Feedback n
Usage Access T Data Type Default Min Max Semantics of Values
Required - E MSG T REAL - - - Feedback n Units / Sec
Actual filtered velocity of the axis based on Feedback n.

Acceleration Feedback n
Usage Access T Data Type Default Min Max Semantics of Values
Required - E MSG T REAL - - - Feedback n Units / Sec2
Actual filtered acceleration of the axis based on Feedback n.

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Feedback nU Position
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T REAL - - - Feedback n Counts
Valid for n = 1 or 2
The Feedback nU Position attribute is an actual position of the axis based on unscaled Feedback n.

Feedback nU Velocity
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T REAL - - - Feedback n Units / Sec
Valid for n = 1 or 2
Actual filtered velocity of the axis based on un-scaled Feedback n.

Feedback nU Acceleration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T REAL - - - Feedback n Units / Sec2
Valid for n = 1 or 2
Actual filtered acceleration of the axis based on un-scaled Feedback n.

Feedback nS Position
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T REAL - - - Scaled Feedback n Counts
Valid for n = 3 or 4
Actual position of the axis based on scaled Feedback n.

Feedback nS Velocity
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T REAL - - - Scaled Feedback n Units/ Sec
Valid for n = 3 or 4
Actual position of the axis based on scaled Feedback n.

Feedback nS Acceleration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T REAL - - - Scaled Feedback n Units/ Sec2
Valid for n = 3 or 4
Actual filtered acceleration of the axis based on scaled Feedback n.

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Feedback Configuration Attributes These are the feedback configuration attributes associated with a Motion
Control Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Feedback Configuration
Usage Access Data Type Default Min Max Semantics of Values
Required - All GSV USINT 0 (BF) 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
9…15 = Vendor Specific
Bits 5…7 = Reserved
The Feedback Configuration attribute determines how the various available feedback channels are used to implement the selected Control Mode. When configured, this attribute also
sets the initial value for Feedback Mode. This 4-bit enumerated value 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 Feedback Configuration attribute is used by the controller to set the Feedback Mode attribute that is sent to the drive device.

Table 38 - Feedback Configuration Bit Descriptions

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, as specified by the Feedback Master Select attribute, 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 used only 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 Dual Integral Feedback means that motor-mounted Feedback 1 is used for commutation, acceleration, velocity, and position
Feedback 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 -

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Feedback Mode
Usage Access Data Type Default Min Max Semantics of Values
Required - All SSV(1) USINT 0 0 15 Bits 0…3: Feedback Mode
Derived from Feedback Enumeration
Configuration 0 = No Feedback
1 = Master Feedback
2 = Motor Feedback
3 = Load Feedback
4 = Dual Feedback
5… 7 = Reserved
8 = Dual Int Feedback Bits
9…15= Vendor Specific
The Feedback Mode attribute determines how the various available feedback channels are used to implement the selected Control Mode. This attribute is transferred to the device as
part of the Cyclic data block. Currently only bits 0…3 are used to enumerate the Feedback Mode configuration. Bits 4…7 are reserved for future use.
The 4-bit enumerated Feedback Mode attribute determines how the various logical feedback channels are used to implement the selected Control Mode for this axis. Feedback Mode
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 Feedback 1, except in the case of an active redundant feedback source.
Table 39 - Feedback Mode Bit Descriptions
Bit Usage Name Description
0 R/S No Feedback No Feedback is selected when encoderless/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, as specified by the Feedback Master Select
attribute, 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 used only 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 -

See Interpreting the Attribute Tables on page 59 for usage codes.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

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When modified programmatically, via SSV, the Feedback Mode value cannot be
set to an enumeration that the Feedback Configuration cannot support. For
example, if the Feedback Configuration is set for Motor Feedback, the Feedback
Mode cannot be changed to Load Feedback because that feedback channel has
not been configured. This table describes valid Feedback Modes.

Table 40 - Feedback Mode SSV Promotion Rules

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 T Data Type Default Min Max Semantics of Values
Optional - N MSG USINT 1 - - Enumeration:
0 = (Reserved)
1 = Feedback 1
2 = Feedback 2
2…255 = Reserved
Actual filtered acceleration of the axis based on scaled Feedback n.

Feedback Unit Ratio

Usage Access Data Type Default Min Max Semantics of Values
Optional - E 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 Type Default Min Max Semantics of Values
Optional - E MSG USINT 0 - - Enumeration:
Logix Designer 0 = Cycles/Unit (R)
1 = Units/Cycle (O)
2 = Bits/Unit (O)
3…127 = Reserved
128…255 = Vendor Specific
Unit of measure for feedback resolution used by Feedback n Cycle Resolution attribute. Default selection is Cycles/Unit where resolution is expressed in feedback cycles per revolution
for rotary feedback devices or per meter for linear feedback devices. If Units/Cycle is selected then Feedback n Cycle Resolution shall be expressed in Nanometers/Cycle for linear
feedback devices. This selection is not applicable to rotary devices. If Bits/Unit is selected then 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 GSV 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 is scalable
to the configured Motor Unit; if the Motor Unit is set to Rev, Feedback 1 is set to Rev; if Motor Unit is set to Meter, Feedback 1 Unit is 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 Type
Usage Access Data Type Default Min Max Semantics of Values
Required - E GSV 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 (0)
15 = SSI Sine/Cosine (0)
16 = SSI AqB (0)
17 = BiSS Sine/Cosine (0)
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 type 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.
The `Integrated’ Feedback Type is specified for CIP Motion compliant devices with an integral feedback transducer function, for example, a integrated motion encoder.
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 is not set by
configuration software nor are they sent to the drive. For example, by selecting the Feedback 1 Type, with or without UVW commutation signals, the device applies the UVW
commutation start-up method or the Self-Sense start-up method, respectively. In this case, UVW commutation signals can be derived from UVW tracks integral to the feedback device
or via separate Hall sensors in the motor.
All other Feedback 1 Type, selections would apply the Digital commutation start-up 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 Type Default Min Max Semantics of Values
Optional - E SSV(1) 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
device’s 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 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.

(1) SSV - This attribute cannot be changed with a SSV instruction if the axis is in the Running state, for example, Tracking Command.

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Feedback n Startup Method

Usage Access Data Type Default Min Max Semantics of Values
Required - E GSV 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 zeroes
the feedback count accumulator at powerup. The first Actual Position value sent to the controller in the Cyclic Data Block of the Device-to-Controller connection at power-up shall be
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 powerup 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 Start-up Method to the Feedback Type selection. In these cases, an attempt by the controller to incorrectly configure the Feedback Startup
Method generates a General Status error of Invalid Attribute Value.

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Feedback n Cycle Resolution

Usage Access Data Type Default Min Max Semantics of Values
Required - E GSV UDINT Default 1 max Cycles/Unit (Rotary): Feedback Cycles/Rev
Not LT Feedback dint Cycles/Unit (Linear): Feedback Cycles/m
Resolution Unit/Cycle (Linear): nm/Feedback Cycle
DB Bits/Unit (Rotary): 2n Cycles/Rev (Rotary) where n = #Bits
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 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
represent the pole count of the device. Digital serial cycles, for example, SSI or parallel absolute feedback devices, 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 this table.

Table 41 - Feedback Unit and Type Selection

Feedback Type Feedback Resolution Feedback Unit = Revs Feedback Resolution 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

The default Feedback Startup Method value depends on the associated Feedback
Type according to this table.

Table 42 - Feedback Type and Startup Method

Feedback Type Default Feedback Startup Method
Digital AqB Incremental
Digital Parallel Absolute
Sine/Cosine Incremental
Hiperface Absolute
EnDat Sine/Cosine Absolute

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Table 42 - Feedback Type and Startup Method

Feedback Type Default Feedback Startup Method
EnDat Digital Absolute
Resolver Absolute
SSI Digital Absolute
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 Interpolation

Usage Access Data Type Default Min Max Semantics of Values
Required - E GSV UDINT 4 1 max dint Feedback Counts/Feedback Cycle
Not LT DB
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 because there is no opportunity of device-based interpolation. The effective resolution of the feedback device in Feedback Counts per Feedback Unit is
determined by the combination of Feedback Cycle Resolution and the Feedback Cycle Interpolation attribute values.

Feedback n Turns
Usage Access Data Type Default Min Max Semantics of Values
Required - E GSV UDINT 1 1 max dint Feedback Units (Rev)
Rotary Absolute DB
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…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 Type Default Min Max Semantics of Values
Required - E GSV REAL 1 0.001  Meters
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 the absolute feedback device in Feedback Counts, this being the combination of the feedback cycle resolution,
interpolation, and length.

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Feedback n Data Length

Usage Access Data Type Default Min Max Semantics of Values
Optional - E GSV 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 Type Default Min Max Semantics of Values
Optional - E GSV USINT 0 - - Enumeration
TP, SS 0 = Binary
1 = Gray
2…255 = Reserved
The Feedback n Data Code attribute is the type of feedback data bit encoding used by the designated serial or parallel data interface channel of a feedback device.

Feedback n Resolver Transformer Ratio

Usage Access Data Type Default Min Max Semantics of Values
Optional - E GSV 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 Type Default Min Max Semantics of Values
Optional - E GSV 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 Type Default Min Max Semantics of Values
Optional - E GSV REAL 4000 - - Hertz
RS
The Feedback n Resolver Excitation Frequency attribute is the frequency of the sinusoidal excitation signal applied to the designated resolver feedback device. The valid frequency
range or values for this attribute depends on the specific device hardware interface.

Feedback n Resolver Cable Balance

Usage Access Data Type Default Min Max Semantics of Values
Optional - E GSV 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 the resolver cable.

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Feedback n LDT Type

Usage Access Data Type Default Min Max Semantics of Values
Required - E MSG USINT 0 -  Enumeration:
LT 0 = PWM
1 = Start/Stop Rising
2 = Start/Stop Falling
3…255 = Reserved
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 Type Default Min Max Semantics of Values
Required - E MSG USINT 1 1 225 # Recirculations
LT
Determines the number of recirculations associated with a PWM type LDT transducer. Multiple recirculations can be used to increase the resolution of the LDT at the expense of
increasing the sample period.

Feedback n Loss Action

Usage Access Data Type Default Min Max Semantics of Values
Optional - E GSV USINT 0 - - Enumeration
0 = GSV Exception (R)
1 = Switch to Sensorless Fdbk (O)
2 = Switch to Redundant Feedback (O)
3…255 = Reserved
Valid for n = 1 or 2
The Feedback n Loss Action Valid 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 called the secondary feedback source.

Feedback n Scaling Ratio

Usage Access Data Type Default Min Max Semantics of Values
Optional - E MSG LREAL 0 - - Scaled Feedback Counts per Feedback n Count
Number of Scaled Feedback Counts per Feedback n Count. This value is used to convert between Position Units to the resolution of another feedback channel to support dynamic
switching between feedback channels.

Feedback n Velocity Filter Taps

Usage Access Data Type Default Min Max Semantics of Values
Optional - E SSV UINT 1 1 maxint Delay Taps (n>= 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.

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Feedback n Accel Filter Taps

Usage Access Data Type Default Min Max Semantics of Values
Optional - E SSV UINT 1 1 maxint Delay Taps (n>= 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 Type Default Min Max Semantics of Values
Optional - E SSV REAL 0 0  Filter Frequency Units
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.

Feedback n Accel Filter Bandwidth

Usage Access Data Type Default Min Max Semantics of Values
Optional - E SSV REAL 0 0  Filter Frequency Units
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 Type Default Min Max Semantics of Values
Required - E GSV USINT 1 - - Enumeration
TM 0 = No
1 = Yes
The Feedback n Battery Absolute attribute determines if the battery is included in the battery-backed absolute feedback device, such as a Tamagawa Serial encoder. This allows the
drive to qualify Feedback Battery Loss and Feedback Battery Low exception conditions.

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Feedback Interface Behavior Feedback Interface Behaviors include Feedback Sources, a Feedback
Accumulator, Commutation Unwind and Offset, a Scaling Accumulator,
Feedback Filtering, and Velocity and Acceleration Feedback Scaling.

Feedback Sources
Feedback signals can be derived from any of the four different feedback interface
channels. The two primary feedback channels employed by the various closed
loop control modes are designated Feedback 1 and Feedback 2. This lets the
control loops 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. The Feedback Mode attribute determines
which feedback source is used by the loop.
Each feedback interface is capable of supporting a number of different feedback
device types as enumerated by the Feedback Type attribute. The feedback
interface output is the number of feedback counts that the feedback device has
moved because the last time the device was sampled. If the feedback device is an
absolute device, the feedback interface determines the absolute position of the
feedback device at powerup and communicates that value to the Feedback
Accumulator to preset the accumulator.

Feedback Accumulator
The role of the Feedback Accumulator depends on the configured Feedback n
Startup Method, which can be either Incremental or Absolute. If Incremental is
selected, the accumulator simply accumulates changes to the feedback count
value, a 32-bit signed integer, with every device update.
If Absolute is selected, the Feedback Accumulator works basically the same way
as in Incremental mode. The only difference is the initialization of the
accumulator at device powerup. In Incremental mode, the Feedback
Accumulator is set to zero, while in Absolute mode, the accumulator is initialized
to the absolute position of the feedback device. This allows for the recovery of
absolute position through a power-cycle as long as power-off movement of the
absolute feedback device is limited to half of the absolute feedback range of the
device. There is no device requirement to extend the absolute position range of
the feedback device through nonvolatile storage of the accumulator.
This simple absolute feedback handling mechanism is due to the fact that
Integrated Motion on the Ethernet/IP network normally places the
responsibility of extending the absolute position range of the axis, and
establishing the absolute machine position reference on the controller.

Commutation Unwind and Offset

An Electronic Unwind block is also connected to the Feedback 1 interface. This
block is designed to unwind, for example, apply modulo of 360 electrical degrees
or the position accumulator output to generate a signal that is proportional to the
electrical angle of a Permanent Magnet motor based on the Pole Count or Pole
Pitch of the motor. To align this signal with the physical ABC windings of the
motor rather than the zero of the feedback device, a configurable Commutation
Offset is added prior to the Electrical Unwind block.

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Scaling Accumulator

In addition to the standard Unscaled Accumulator, the integrated motion

feedback interface design also defines a Scaled Accumulator for the secondary
feedback channels. The purpose of this accumulator is to scale the Position
Feedback n signal of the associated secondary feedback channel to create a scaled
version of that signal, Feedback Position nS, which is based on a different
feedback count resolution, the resolution of the associated primary feedback
channels.

Feedback Filtering
Feedback Filtering is a programmable FIR differencing filter for each feedback
channel to estimate velocity based on the change of feedback position over a
given number of feedback samples. The simplest, and most common,
configuration of the FIR filter is as a simple one tap delay that results in the
change in feedback position because the last sample. Additional taps can be used
to provide a better estimate of velocity when by using lower resolution feedback
devices, but this is at the expense of adding additional delays to the control loop
and lowering the bandwidth of the loop.
An advantage of by using a FIR filter for velocity feedback is that the FIR filter is
sampling at the device update period. The resulting filter deeply attenuates
feedback noise harmonically related to the PWM frequency. Another advantage
of the FIR filter is it is manifested as a simple delay and can be easily compensated
for, as part of the feedforward strategy.
A separate programmable FIR filter is also defined for generating the acceleration
feedback estimate. Conceptually, this filter is equivalent to two cascaded FIR
differencing filters back-to-back. Separate configuration attributes are used to
configure the number of taps used for the acceleration FIR and velocity FIR
filters.
In addition to the FIR filters, a configurable low-pass IIR filter is for filtering the
velocity and acceleration estimates for each feedback channel. These filters can be
used to further reduce the level of quantization noise associated with differencing
digital feedback signals. The bandwidth of the velocity and acceleration IIR
filters for each feedback channel are individually programmable.

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Velocity and Acceleration Feedback Scaling

After filtering, Feedback n Velocity and Feedback n Acceleration signals are

scaled by the Feedback n Scaling Ratio to generate the Feedback nS Velocity and
Feedback nS Acceleration signals. These signals are distinguished from their
source feedback channel by the S suffix, indicating that the signal is a Scaled
version of the associated feedback device.

Figure 8 - Feedback Channels 1 and 2

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Event Capture Attributes The event related attributes associated with a Motion Control Axis include
registration, marker, and homing events. The Event Capture attributes are
designed to support the possibility of up to 16 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 events related attributes are applicable only 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. This
lets you implement controller 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.

For more information on registration attributes, see Motion Control Signal

Attributes on page 72.

Registration Inputs
Usage Access T Data Type Default Min Max Semantics of Values
Required - E GSV USINT 0 0 10
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 Type Default Min Max Semantics of Values
Required - E 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 Type Default Min Max Semantics of Values
Required - E 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 Type Default Min Max Semantics of Values
Required - E GSV T REAL - - - Position Units
The Registration 2 Positive Edge Position attribute feedback position latched on the rising edge of the Registration Input 2.

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Registration 2 Negative Edge Position

Usage Access T Data Type Default Min Max Semantics of Values
Required - E 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 Type Default Min Max Semantics of Values
Required - E GSV T DINT - - - CST Time in Microseconds.
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 Type Default Min Max Semantics of Values
Required - E 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 Type Default Min Max Semantics of Values
Required - E 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 Type Default Min Max Semantics of Values
Required - E 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.

Axis Event Bits

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV(1) T DINT - - - Bitmap - AxisFault
0 = WatchEventArmedStatus
1 = WatchEventStatus
2 = RegEvent1ArmedStatus
3 = RegEvent1Status
4 = RegEvent2ArmedStatus
5 = RegEvent2Status
6 = HomeEventArmedStatus
7 = HomeEventStatus
8…31= Reserved
The Axis Event Bits attributes are a collection of basic event conditions. This attribute is for use primarily by the system during execution of various Motion Event instructions.

(1) Direct Tag access is supported. Bit names shown are used as data type member names in the Logix Designer application and are shown in the semantics column.

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Table 43 - 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 Home instruction (MAH) 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 is set when a home event has occurred and is used by the Home
instruction (MAH) to manage various homing events that occur during the configured homing
sequence. This bit is cleared when another MAH (Motion Axis Home) instruction is executed.
The Home Event Status is set to true when the defined home event sequence is satisfied.
• If the home type = Switch, the bit should go TRUE if an MAH instruction is executed and then the
Switch is seen.
• If the sequence is set for Marker, the Home Event Status bit should go true when the Marker is
seen and an MAH is in process.

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Event Capture Behavior Event capture behavior captures both the feedback position and time stamp
associated with specific state transitions of selected event input sources.

Event Input Sources

Event input sources currently supported by the object are Registration 1,

Registration 2, Marker, and Home Switch. These four event input sources apply
to each supported feedback channel.

Event Latches

To facilitate accurate capture of both feedback position and time, hardware event
latches are typically implemented as shown in the following block diagram. 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 defined
also 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, limited
only 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 1μs. 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…10 ms. Thus, to get an accurate position capture based on a home switch input
transition, a homing sequence with a slow homing speed is required.

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.

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One thing that should be done, however, is to adjust the event time stamp, t,
should there be a shift in the System Time Offset for the device prior to
transmitting to the controller; the event time stamp must always be based on the
same System Time reference system at the time of transmission. For example,
assume the device’s System Time Offset is Offset when the event timestamp, t,
occurred. Assuming that the System Time Offset is t1 at the time that the event is
to be transmitted to the controller, then t is adjusted to be t1 prior to
transmission with the rest of the associated event data to the controller, for
example, t = t + (Offset – Offset).

Figure 9 - Event Capture Functionality

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Command Reference Generation These are the Command Reference Generation attributes related to the Motion
Control Axis that converts command position, velocity, acceleration, and torque
Attributes data output from a controller-based or device-based Motion Planner into
corresponding command reference signals to the device’s motor control
structures. The command reference generator functionality includes fine
interpolators, signal selector switches, dynamic limiters, and command notch
filters.

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 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 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 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 second Differential Position output value of the Command Position fine interpolator.

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Command Generator Configuration These are the command generator configuration attributes associated with a
Attributes Motion Control Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Skip Speed 1
Usage Access Data Type Default Min Max Semantics of Values
Optional - F 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 Type Default Min Max Semantics of Values
Optional - F 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 Type Default Min Max Semantics of Values
Optional - F 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.

Skip Speed Band

Usage Access Data Type Default Min Max Semantics of Values
Optional - F SSV REAL 0 0  Velocity Units
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 half above and half 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 Type Default Min Max Semantics of Values
Optional - FV 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 Type Default Min Max Semantics of Values
Optional - FV 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.

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Ramp Acceleration
Usage Access Data Type Default Min Max Semantics of Values
Optional - FV SSV REAL 0 0  Accel Units
Derived from Max Accel
The Ramp Acceleration attribute is a positive value that defines the maximum acceleration (increasing speed) of the velocity command output by the Ramp Generator.

Ramp Deceleration
Usage Access Data Type Default Min Max Semantics of Values
Optional - FV 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 Type Default Min Max Semantics of Values
Optional - FV 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 half at the beginning and half 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 the following:
0.5 * 0.01 * Jerk Control * Ramp Vel Positive/Ramp Accel
The decelerating Jerk limit value also decreases according to the following:
0.5 * 0.01 * Jerk Control * Ramp Vel Negative/Ramp Decel

Flying Start Enable

Usage Access Data Type Default Min Max Semantics of Values
Optional - FV SSV SINT 0 0 1 0 = Flying Start Disabled
1 = Flying Start Enabled
The Flying Start Enable attribute is a boolean value that enables or disables 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 configure 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 Enabled 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 SSV BOOL 0 - - Enumerations:
0 = Encoder
1 = Counter EMF
2 = Sweep Frequency
The Flying Start Method attribute 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 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.

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Command Notch Filter Frequency

Usage Access Data Type Default Min Max Semantics of Values
4
Optional - PV MSG REAL 0 0 10 Filter Frequency Units
Controls the center frequency of the notch filter that is applied to the position, velocity, and acceleration command signals. This filter is useful in reducing the effects of anti-resonance
when driving a compliant load. The Q, or 1/2Z, of the notch filter is set to 0.707. A value of 0 for this attribute disables this feature.

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Command Generation Behavior Command Generation includes these behaviors: Command Data Sources,
Command Fine Interpolation, Command Ramp Generator, Feedforward Signal
Selection, and Command Notch Filter.

Command Data Sources

Command data that affects axis motion can come from a variety of sources. The
most common command data source is from a controller-based Motion Planner
via 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 Command
Interpolator is generally applied to the Command Data to generate command
reference signals to the devices ‘control structure at the devices’ 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.

Both the Fine Command Interpolator and the Ramp Generator are functions of
the Command Generator blocks shown in Figure 10 on page 164.

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Command Fine Interpolation

For synchronized, high-performance applications by 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 blocks.

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, the Motion Device Axis Object

recommends a minimum order for the fine interpolators. 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 order, and the acceleration and
torque interpolators are both 1st order. Higher order fine interpolators are
possible and are left to the vendors discretion.

Position Fine Interpolation Polynomial:

P(t) = a0 + a1 * (t-t0) + a2 * (t- t0)2 + a3 * (t-t0)3

Velocity Fine Interpolation Polynomial:

V(t) = b0 + b1 * (t-t0) + b2 * (t- t0)2

Acceleration Fine Interpolation Polynomial:

A(t) = c0 + c1 * (t-t0)

Torque Fine Interpolation Polynomial:

T(t) = d0 + d1 * (t-t0)

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In these equations, time t, represents the Command Target Time for the
previous Motion Planner update such that when t = t0, the position, velocity,
acceleration, and torque 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(t0) = P–1 = a0

V(t0) = V–1 = b0

A(t0) = A–1 = c0

T(t0) = T–1 = d0

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(t1) = P0

V(t1) = V0

A(t1) = A0

T(t1) = T0

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 current System Time Offset is defined as Offset1, then t0 is
adjusted as follows before executing the polynomial:

Adjusted t0 = t0 + (Offset1 – Offset0)

Alternatively, the values for t, t, 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 vendors discretion.

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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 formula’s are as follows:

Position Fine Interpolation Polynomial Coefficients:

a0 = P1

a1 = 1/T * (P0 – 1/2*V0 - 1/6*A0)

a2 = 1/T2 * (1/2*V0)

a3 = 1/T3 * (1/6*A0)
Velocity Fine Interpolation Polynomial Coefficients:
b0 = V–1

b1 = 1/T * (V – 1/2*A0)

b2 = 1/T2 * (1/2*A0)
Acceleration Fine Interpolation Polynomial Coefficients (Torque is same form as
Accel):
c0 = A–

c1 = 1/T *A0
The above equations are based on the following nomenclature:
T = Controller Update Period

P0 = (P0 – P–)

V0 = (V0 – V–1) = (P0 – 2P–1 + P–2)

A0 = (A0 – A–1) = (V0 – 2V–1 + V–2) = (P0 – 3P–1 + 3P–2 – P–3)

The above 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.

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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
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.

Command Ramp Generator

The Ramp Generator feature of the Command Generator block is applied to the
Command Data 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 devices’ 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

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Control attribute determines what percentage of the acceleration or deceleration

ramp is S-Curve with the remaining portion of the ramp governed by the fixed
Ramp Acceleration or Deceleration attribute values.

While a Ramp Generator function could be included in each of the Fine

Command Generator blocks for position, velocity, and acceleration commands,
this version of the Motion Device Axis Object specification supports only a
Ramp Generator in the Velocity Fine Command Generator block.

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.

Feedforward Signal Selection

The Fine Command Generators defined as part of the Motion Device Axis
Object 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 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.

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Command Notch Filter

The resulting position command 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.

The equation for this filter is as follows:

s^2 + wn^2
G(s) =
s^2 + s * wn/Q + wn^2

In this equation, Q represents the sharpness of the notch,

which is typically hard-coded in the device.

Figure 10 - Command Generator

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Control Mode Attributes These are the control mode attributes associated with a Motion Control Axis.
They include Position Loop and Velocity Loop attributes.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Position Loop Attributes These are the position loop related attributes associated with a Motion Control
Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Position Command
Usage Access T Data Type Default Min Max Semantics of Values
Required - P MSG T REAL - - - Position Units
Command position output from the fine interpolator (if active) into position loop when configured for position loop control.

Position Trim
Usage Access T Data Type Default Min Max Semantics of Values
Required - P SSV T REAL 0 -maxpos maxpos Position Units
The Position Trim attribute is an additional position command added to the Position Command to generate the Position Reference signal into the position loop summing junction.

Position Reference
Usage Access T Data Type Default Min Max Semantics of Values
Required - P GSV T REAL - - - Position 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 Type Default Min Max Semantics of Values
Required - P GSV T REAL - - - Velocity Units
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.

Position Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Required - E MSG T REAL - - - Position Units
Position feedback value channeled into the position proportional control summing junction.

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Position Integral Feedback

Usage Access T Data Type Default Min Max Semantics of Values
Optional - P MSG T REAL - - - Position Units
Position feedback value channeled into the position integral control summing junction.

Position Error
Usage Access T Data Type Default Min Max Semantics of Values
Required - P 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 Type Default Min Max Semantics of Values
Required - P GSV T REAL - - - Velocity Units
The Position Integrator Output attribute is the output of the position integrator representing the contribution of the position integrator to Position Loop Output.

Position Loop Output

Usage Access T Data Type Default Min Max Semantics of Values
Required - P 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.

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Position Control Behavior In Position Control mode, the only operative Control Method supported is
Closed Loop servo control.

Closed Loop Position 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.

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
uses the Feedback 2 channel and the velocity loop uses the Feedback 1 channel.
Because 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 via the Unit Scaling block by using the
Feedback Unit Ratio.

Position PI Gains
The Proportional Gain of the classic 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.

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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 the use of the position integral gain control as described
above, 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.

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, 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 tweaked to accommodate velocity
loops with finite loop gain. One thing that may force a smaller Velocity
Feedforward value is that increasing amounts of feedforward tends to exacerbate
axis overshoot. For this reason, feedforward is not recommended
for point-to-point positioning applications.

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.
kn*s + wn
G(s) =
s + wn

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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.

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:
s^2 + s* wn/(Q*A) + wn^2
G(s) =
s^2 + s * wn/Q + wn^2

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.

Figure 11 - Closed Loop Position Control

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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. Figure 12 on page 171 further defines this open loop Velocity Control
method.

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.

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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.

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.

Figure 12 - Open Loop Frequency Control

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Position Loop Configuration These are the position loop configuration attributes associated with a Motion
Attributes Control Axis.

Velocity Feedforward Gain

Usage Access T Data Type Default Min Max Semantics of Values
Required - P SSV REAL 0 0  %
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 Type Default Min Max Semantics of Values
Required - P 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 Type Default Min Max Semantics of Values
Required - P 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 Type Default Min Max Semantics of Values
Required - P 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.

Position Error Tolerance

Usage Access T Data Type Default Min Max Semantics of Values
Required - P SSV REAL 0 0  Position 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 Type Default Min Max Semantics of Values
3
Optional - P SSV REAL 0 0 10 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.

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Position Lead Lag Filter Bandwidth

Usage Access T Data Type Default Min Max Semantics of Values
4
Optional - P SSV REAL 0 0 10 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 Type Default Min Max Semantics of Values
Optional - P 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 a value less than
1 results in a lag function. A value of 1 disables the filter.

Position Notch Filter Frequency

Usage Access T Data Type Default Min Max Semantics of Values
4
Optional - P SSV REAL 0 0 10 Filter Frequency Units
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 Type Default Min Max Semantics of Values
Required - P 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 via 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 Type Default Min Max Semantics of Values
Optional - P 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.

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Velocity Loop Attributes These are the Velocity Control related attributes associated with a Motion
Control Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Velocity Command
Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV MSG T REAL 0 - - Velocity Units
Command velocity output from fine interpolator (if active) into velocity loop when configured for velocity loop control.

Velocity Trim
Usage Access T Data Type Default Min Max Semantics of Values
Required - FPV 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 Type Default Min Max Semantics of Values
Required - PV 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 Type Default Min Max Semantics of Values
Required - FPV GSV T REAL - - - Velocity Units
The Velocity Reference Command is a velocity reference into the velocity loop summing junction or in the case of Frequency Control, the signal that is scaled to become the Frequency
Reference.

Velocity Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Required - ALL GSV T REAL - - - Velocity Units
The Velocity Feedback Command is the actual 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 specified by the Feedback Master Select attribute. If the axis is configured for Frequency Control, the Velocity
Feedback signal is derived from the Velocity Reference signal. If the axis is configured for Sensorless Velocity Loop operation, for example, Feedback Mode set to No Feedback, Velocity
Feedback is estimated by the sensorless control algorithm.

Velocity Error
Usage Access T Data Type Default Min Max Semantics of Values
Required - PV GSV T REAL - - - Velocity Units
The Velocity Error command is the error between the Velocity Reference and Velocity Feedback value that is the output of the velocity loop summing junction.

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Velocity Integrator Output

Usage Access T Data Type Default Min Max Semantics of Values
Required - PV GSV T REAL - - - Accel Units
The Velocity Integrator Output Command is the output of the velocity integrator representing the contribution of the velocity integrator to Velocity Loop Output.

Velocity Loop Output

Usage Access T Data Type Default Min Max Semantics of Values
Required - PV GSV T REAL - - - Accel Units
The Velocity Loop Output Command is the output of the velocity forward path, representing the total control effort of the velocity loop.

Velocity Loop Configuration These are the velocity loop configuration attributes associated with a Motion
Attributes Control Axis.

Velocity Offset
Usage Access T Data Type Default Min Max Semantics of Values
Required - PV 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, which is sent
synchronously to the drive every Coarse Update Period. Because the Velocity Trim value is available as a tag value, real time velocity corrections must be done by using the Velocity
Trim attribute.

Acceleration Feedforward Gain

Usage Access T Data Type Default Min Max Semantics of Values
Required - PV 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 Type Default Min Max Semantics of Values
Required - PV 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 Type Default Min Max Semantics of Values
Required - PV 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 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.

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Velocity Negative Feedforward Gain

Usage Access T Data Type Default Min Max Semantics of Values
Optional - PV 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 Type Default Min Max Semantics of Values
Optional - FPV SSV REAL 0 0  Velocity Units/Sec/%Rated
The Velocity Droop value 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 be specified in velocity units per percent rated torque output. This parameter is also valid for
V/Hz devices and its behavior is nearly identical, but instead of percent rated being related to torque, percent rated is related to current.

Velocity Error Tolerance

Usage Access T Data Type Default Min Max Semantics of Values
Optional - PV 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 an Excessive Velocity Error exception.

Velocity Error Tolerance Time

Usage Access T Data Type Default Min Max Semantics of Values
Optional - PV SSV REAL 0.01 0  Seconds
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 Type Default Min Max Semantics of Values
Required - PV SSV BYTE 0 0:0 1:0 - - Bitmap
0 = Integrator Hold Enable (R)
1 = Auto-Preset (O)
2…7 = Reserved
The Velocity Integrator Control attribute controls the behavior of the velocity loop integrator while commanding motion via 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 Type Default Min Max Semantics of Values
Optional - PV 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.

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Velocity Low Pass Filter Bandwidth

Usage Access T Data Type Default Min Max Semantics of Values
4
Optional - PV SSV T REAL 0 0 10 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.

Velocity Threshold
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ED 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 Type Default Min Max Semantics of Values
Optional - FPV 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 fall outside this window, the Velocity Lock status bit is cleared.

Velocity Standstill Window

Usage Access T Data Type Default Min Max Semantics of Values
Required - ED 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 fall 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 Type Default Min Max Semantics of Values
Optional - FPV SSV REAL 0 0  Velocity Units
FD
The Velocity Limit - Positive attribute defines the most positive velocity reference value into the velocity summing junction. If this velocity limit value is exceeded, the device responds
by clamping the velocity reference to this limit and setting the Velocity Limit status bit.

Velocity Limit - Negative

Usage Access T Data Type Default Min Max Semantics of Values
Optional - FPV 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 this velocity limit value
is exceeded, the device responds by clamping the velocity reference to this limit and setting the Velocity Limit status bit.

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SLAT Configuration
Usage Access T Data Type Default Min Max Semantics of Values
Optional - V SSV BYTE - - - 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. 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.
Table 44 - SLAT Configuration Bit Descriptions
Bit Name Description
0 SLAT Disabled SLAT function is disabled. Normal Velocity Loop operation.
1 SLAT Min Speed/Torque Drive automatically switches 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.
2 SLAT Max Speed/Torque Drive automatically switches from Torque Control to speed control if Velocity
Error > 0 and switches back to Torque Control if Velocity < SLAT Set Point for
SLAT Time.

SLAT Set Point

Usage Access T Data Type Default Min Max Semantics of Values
Optional - V SSV REAL - - - Velocity Units
The SLAT Set Point attribute determines when the Speed Error levels switches from Speed control to Min/Max control.

SLAT Time Delay

Usage Access T Data Type Default Min Max Semantics of Values
Optional - V SSV REAL - - - Seconds
The SLAT Time Delay attribute is the time delay after SLAT Set Point is reached to switch from Speed control to Min/Max control.

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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 Figure 13. In this
state, the torque reference is the minimum, or Min function, of the Velocity Loop
Output or the Torque Command.

Figure 13 - 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, for example, a 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,
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.

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SLAT Max Speed/Torque Mode

For SLAT Max Speed/Torque mode (SLAT Configuration = 2), the SLAT
control operates similarly to SLAT Min Speed/Torque mode, except that the
signs have changed to allow the feature to work in the negative direction.

Figure 14 - 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.

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

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 as described in Position Control Behavior
on page 167.

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 classic PI regulator. Contributing
to the velocity command summing junction also is the Velocity Trim input,
which can be used in conjunction with an outer control loop to make minor
adjustments to the velocity of the motor.

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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
classic limiter block to produce the Velocity Reference signal into the velocity
loop. The Velocity Limiter block 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
via a classic 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.

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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 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 tweaked 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.

Figure 15 - Closed Loop Velocity Control

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Acceleration Control Attributes These are the accelerations related attributes associated with a Motion Control
Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Acceleration Command
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL 0 - - Accel Units
The command acceleration output from fine interpolator (if active) into acceleration loop when configured for acceleration control.

Acceleration Trim
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV T REAL 0 -maxacc maxacc Accel Units
The Acceleration Trim attribute is an additional acceleration command added to the acceleration loop summing junction.

Acceleration Reference
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - Accel Units
The Acceleration Reference Command is the acceleration reference into acceleration loop summing junction.

Acceleration Feedback 1
Usage Access T Data Type Default Min Max Semantics of Values
Required - E GSV T REAL - - - Accel Units
The Acceleration Feedback attribute is the actual acceleration of the axis based on the selected feedback device.

Load Observer Acceleration Estimate

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - Accel Units
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 Type Default Min Max Semantics of Values
Optional - C GSV 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.

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Acceleration Control Configuration These are the acceleration control configuration attributes associated with a
Attributes Motion Control Axis.

Load Observer Configuration

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV USINT If enum 2 is - - Enumeration
valid: 2 Else 0 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 Type Default Min Max Semantics of Values
Optional - C 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 Type Default Min Max Semantics of Values
Optional - C SSV T REAL 0 0  Loop Bandwidth Units
The Load Observer Integrator Bandwidth attribute determines the load observer integral gain, Koi, that together with the Kop, multiplies the integrated error signal within the
observer. 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 Type Default Min Max Semantics of Values
Optional - C SSV REAL 0.5 0 
The Load Observer Feedback Gain attribute is a value that, when configured for Acceleration Feedback, multiplies the Load Observers 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 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 Type Default Min Max Semantics of Values
Optional - C 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.

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Acceleration Control Behavior While dynamic motor control via an acceleration command is not common in
the industry, Acceleration Control completes the dynamic progression from
Velocity Control to Torque Control. The output of the velocity loop, Velocity
Loop Output, also has units of acceleration. So, like the other control modes, we
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.

See Torque Control Behavior on page 197 for more information about how
torque input is derived.

Acceleration Limiter
The output of the acceleration command summing junction signal passes
through a classic limiter block to produce the Acceleration Reference signal. The
Accel Limiter block applies a directional acceleration limit, either the
Acceleration Limit and Deceleration Limit, to the input command signal based
on the sign of the signal.

Figure 16 - Acceleration Limiter

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.

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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
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.

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Load Observer Configuration

The Load Observer can be configured in a variety of ways via 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.

Figure 17 - Acceleration Control with Load Observer

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Torque/Force Control Signal These are the torque/force related attributes associated with a Motion Control
Attributes Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Torque Command
Usage Access T Data Type Default Min Max Semantics of Values
Required - C MSG REAL - - - % Motor Rated
The Torque Command attribute commands the torque output from fine interpolator (if active) into torque input summing junction when configured for Torque Control.

Torque Trim
Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV T REAL - -  % Motor Rated

The Torque Trim attribute is an additional torque command added to the torque input summing junction.

Torque Reference
Usage Access T Data Type Default Min Max Semantics of Values
Required - C GSV T REAL - - - % Motor Rated
The Torque Reference attribute commands the 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 Type Default Min Max Semantics of Values
Required - C GSV T REAL - - - % Motor Rated
The Torque Reference Filtered commands the torque reference input signal after torque filter section.

Torque Reference Limited

Usage Access T Data Type Default Min Max Semantics of Values
Required - C GSV T REAL - - - % Motor Rated
The Torque Reference Limited attribute commands the torque reference input signal after torque limiter section.

Torque Inertia Estimate

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG T REAL - - - % Motor Rated / (Motor Units/Sec2)
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.

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Torque/Force Control Configuration These are the torque/force control configuration attributes associated with a
Attributes Motion Control Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Torque Offset
Usage Access T Data Type Default Min Max Semantics of Values
Required - C 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, which can be sent synchronously to
the drive every connection update. Because the Torque Trim value is available as a tag value, real time torque corrections are done by using the Torque Trim attribute. For the Torque
Offset value to have effect, Torque Trim must be selected for Cyclic Write.

System Inertia
Usage Access T Data Type Default Min Max Semantics of Values
Required - PV SSV T REAL 0 0  % Motor Rated/(Motor Units/Sec2)
FD
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 Type Default Min Max Semantics of Values
Required - P 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 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 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 affect 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.

Backlash Compensation Window

Usage Access T Data Type Default Min Max Semantics of Values
Optional - P SSV REAL 0 0  Position Units
The Backlash Compensation Window attribute 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.

Friction Compensation Sliding

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV REAL 0 0 100 % Motor Rated
The Friction Compensation Sliding attribute is the value added to the current/torque command to offset the effects of coulomb friction.

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Friction Compensation Static

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV REAL 0 0 100 % Motor Rated
The Friction Compensation Static attribute is the value added to the current/torque command to offset the effects of static friction, sometimes referred to as sticktion.

Friction Compensation Viscous

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV REAL 0 0 100 % Motor Rated/(Motor Units/Sec)
The Friction Compensation Viscous attribute is the 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 Type Default Min Max Semantics of Values
Optional - P SSV REAL 0 0  Position Units
The Friction Compensation Window 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 Type Default Min Max Semantics of Values
4
Optional - C SSV REAL 0 0 10 Filter Frequency Units
The Torque Lead Lag Filter Bandwidth attribute 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 Type Default Min Max Semantics of Values
Optional - C SSV REAL 1 0 
The Torque Lead Lag Filter Gain 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 1 disables the filter.

Torque Low Pass Filter Bandwidth

Usage Access T Data Type Default Min Max Semantics of Values
4
Optional - C SSV T REAL 0 0 10 Filter Frequency Units
FD
The Torque Low Pass Filter Bandwidth attribute is the break frequency for the low pass filter applied to the torque reference signal.

Torque Notch Filter Frequency

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV REAL - - 104 Filter Frequency Units
The Torque Notch Filter Frequency attribute is the center frequency of the notch filter applied to the toque reference signal. A value of 0 for this attribute disables this feature.

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Torque Limit Positive

Usage Access T Data Type Default Min Max Semantics of Values
3
Optional - C SSV T REAL 100 - 10 % Motor Rated
The Torque Limit Positive attribute is the value that 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.
If an invalid number is applied to the `axis.TorqueLimitPositive’ attribute using Cyclic Write, the invalid value is reflected in the axis tag but does not transfer to the drive. Instead, the
last valid attribute value continues to be applied to the drive. In this condition, the attribute value applied and acted upon by the drive is not the attribute value reflected by the
`axis.TorqueLimitPositive’ tag.

Torque Limit - Negative

Usage Access T Data Type Default Min Max Semantics of Values
3
Optional - C SSV T REAL -100 -10 0 % Motor Rated
The Torque Limit Negative attribute is the value that 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 Notch Filter High Frequency Limit

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV REAL Eq 18 20 2*Eq 18 Filter Frequency Units
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 Type Default Min Max Semantics of Values
Optional - C SSV REAL Eq 18 20 2000 Filter Frequency Units
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.

Torque Notch Filter Tuning Threshold

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV 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 Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - Filter Frequency Units
The estimate 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.

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Torque Notch Filter Magnitude Estimate

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
This estimate 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 Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - Filter Frequency Units
This value represents the Bandwidth of the Torque Low Pass Filter when the Adaptive Tuning Configuration is equal to Gain Stabilization or Notch Filter Tuning 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 Notch Filter Tuning to Gain Stabilization or Notch Filter Tuning 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 Type Default Min Max Semantics of Values
Optional - C 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 one any time the
Adaptive Tuning Configuration is Disabled or set to Notch Filter Tuning. The value is initialized to one when the drive is power cycled or reset.

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Adaptive Tuning Configuration

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV USINT 0 - - 0 = Disabled
1 = Notch Filter Tuning
2 = Gain Stabilization
3 = Notch Filter Tuning and Gain Stabilization
4…255 = Reserved
The Adaptive Tuning Configuration attribute is an 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 Notch Filter Tuning, the Torque Notch Filter Frequency Estimate attribute value, determined by the Adaptive Tuning function, is applied to the Torque Notch Filter
Bandwidth of the associated axis. All other servo loop attributes are applied directly without intervention of the Adaptive Tuning function.
When configured for Gain Stabilization, the servo loop gain values are scaled by the Adaptive Tune Gain Scaling Factor and 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 Tuning and Gain Stabilization, the Torque Notch Filter Frequency Estimate attribute value, determined by the Adaptive Tuning function, is applied to
the Torque Notch Filter. In addition, servo loop gain attributes are scaled by the Adaptive Tune Gain Scaling Factor and the Torque Low Pass Filter Bandwidth Estimate is 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 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 shall persist.
When the Adaptive Tuning Configuration is set to Disabled or Notch Filter Tuning, 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.

Inertia Observer Filter Bandwidth

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL 100 0 104 Filter Frequency Units
Set the frequency for inertia observer low pass filter applied to the Total Inertia Estimate.

Inertia Observer Configuration

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG USINT 0 Enumeration:
0 = Disabled (R)
1 = Inertia Observer (O)
Controls the operation of the Inertia Observer block. The Inertia Observer dynamically measures the total inertia of the system. The Load Torque Observer and the Inertia Observer are
mutually exclusive features and, therefore, shall not be enabled at the same time.

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Cogging Compensation Table

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG Struct {UINT, 0 Struct { Length, % Motor Rated [ ] }
REAL[1024] }
List 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 ideal
motor with no cogging would have a value of 100% for all elements in the array. A value above 100% would provide additional 1/Kt gain to the torque reference, while a value below
100% would reduce the 1/Kt gain.

Torque Limit - Positive

Usage Access T Data Type Default Min Max Semantics of Values
3
Required - C SSV REAL 100 0 10 % Motor Rated
FD
The Torque Limit Positive attribute is the value that 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.

Torque Limit - Negative

Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV REAL -100 -103 0 % Motor Rated
FD
The Torque Limit Negative attribute is the value that 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 Type Default Min Max Semantics of Values
Optional - C SSV REAL 10 6
0  % Motor Rated/Sec
The Torque Rate Limit attribute limits the rate of change of the torque reference signal.

Torque Threshold
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV REAL 90 0 103 % Motor Rated
FD
The Torque Threshold attribute 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 Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 200 0 10 % Motor Rated
The Overtorque Limit attribute is the 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 results 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 Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 Seconds
The Overtorque Limit Time 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 Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 10 0 10 % Motor Rated
The Undertorque Limit attribute is the 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0 103 Seconds
The Undertorque Limit Time attribute 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.

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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.

Torque Input Sources

The Torque Control section can take input from a variety of sources depending
on the Control Mode. Input to the Torque Reference path can come via 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
includes the motor and the load and has the effect of cancelling 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 block in Figure 22 - Torque Control on page 203.

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Backlash Compensation

A number of important compensation features are included in the Torque

Control diagram. 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.

Figure 18 - Backlash Compensation, Inertia J

Inertia, J

Motor + Load Inertia

Motor Inertia

Backlash Distance Position

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, as shown in
Figure 19 - Backlash Compensation, Effective Kj on page 199, that is a function
of the position error of the position loop.

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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.

Figure 19 - Backlash Compensation, Effective Kj

Effective Kj

Motor + Inertia

Position Error
Backlash Distance

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.

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.

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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
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.

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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.

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.

Figure 20 - Led-Lag Filter

Kn*s + wn
G(s) =
s + wn

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 affect 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.

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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.

A typical equation for the notch filter is as follows:

Figure 21 - Notch Filter Equation

s^2 + wn^2
G(s) =
s^2 + s * wn/Q + wn^2

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.

Torque Limiter

The Filtered Torque Reference signal passes through a limiter block to produce
the Limited Torque Reference signal. The Torque Limiter block 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 limit block is a built in Torque Rate of Change
Limit. This feature limits the rate of change of the torque reference output.

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. In other words, the 1/
Kt scaling in the block diagram, Figure 22 has a nominal value of 1, for example,
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 affect in real-time
based on the electrical angle of the motor resulting in smoother motor operation.

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 affect the
acceleration of the load. By contrast, the Load Observer 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.

Figure 22 - Torque Control

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Current Control Attributes These are the current control related attributes associated with a Motion Control
Axis.

Current Command
Usage Access T Data Type Default Min Max Semantics of Values
Required - C 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.

Operative Current Limit

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D 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 Type Default Min Max Semantics of Values
Optional - D 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 limits when a current limit condition occurs.

Motor Electrical Angle

Usage Access T Data Type Default Min Max Semantics of Values
Required - C GSV T REAL - - - Degrees
PM
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 Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
The Current Reference attribute is the current reference signal, Iq, into the torque current loop summing junction.

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Flux Current Reference

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
The Flux Current Reference attribute commands the current reference, Id, into the flux current loop summing junction.

Current Disturbance
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C SSV T REAL - - - % Motor Rated
The Current Disturbance attribute injects the torque producing current command used to excite motor as part of Frequency Analysis service.

Current Error
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
The Current Error attribute is the 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 Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
The Flux Current Error attribute is the 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 Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
The Current Feedback attribute is the actual torque current applied to the axis based on current sensor feedback.

Flux Current Feedback

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C GSV T REAL - - - % Motor Rated
The Flux Current Feedback attribute is the actual flux current applied to the axis based on current sensor feedback.

Torque Decoupling
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - % Motor Rated
Signal added to the Iq control loop output to compensate for the effects of Id.

Torque Voltage Output

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - % Motor Rated
Instantaneous Torque/Force producing output voltage.

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Flux Decoupling
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - % Motor Rated
Signal added to the Id control loop output to compensate for the effects of Iq.

Flux Voltage Output

Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - % Motor Rated
Instantaneous Flux producing output voltage.

U Voltage Output
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Volts
Instantaneous voltage applied to U phase.

V Voltage Output
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Volts
Instantaneous voltage applied to V phase.

W Voltage Output
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Volts
Instantaneous voltage applied to W phase.

U Current Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Amps
Instantaneous current measured on U phase.

V Current Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Amps
Instantaneous current measured on V phase.

W Current Feedback
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Amps
Instantaneous current measured on W phase

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U Current Offset
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Amps
Offset for U Phase current transducer.

V Current Offset
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Amps
Offset for V Phase current transducer.

W Current Offset
Usage Access T Data Type Default Min Max Semantics of Values
Optional - C MSG REAL - - - Amps
Offset for W Phase current transducer.

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Current Control Configuration These are the current control configuration attributes associated with a Motion
Attributes Control Axis.

Current Vector Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - CF 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 Type Default Min Max Semantics of Values
Optional - C SSV REAL 0 0  Loop Bandwidth Units
Eq 7
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 uses the Torque Loop
Bandwidth for tuning both the torque producing and flux producing current loops.

Torque Integral Time Constant

Usage Access Data Type Default Min Max Semantics of Values
Optional - C 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 cancellation, 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.

Flux Loop Bandwidth

Usage Access Data Type Default Min Max Semantics of Values
Optional - C SSV REAL 0 0  Loop Bandwidth Units
DB
The Flux Loop Bandwidth attribute 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 uses the Torque Loop Bandwidth for tuning
both the torque producing and flux producing current loops.

Flux Integral Time Constant

Usage Access Data Type Default Min Max Semantics of Values
Optional - C SSV REAL 0 0  Seconds
The Flux Integral Time Constant attribute determines the response time of the flux producing current loop integrator. When used for Pole-Zero cancellation, 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.

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Flux Up Control
Usage Access Data Type Default Min Max Semantics of Values
Optional- D 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.
If this attribute is not supported in the implementation, it is recommended that the drive establish induction motor flux by whatever means prior to transitioning to the Running state.

Flux Up Time
Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 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.

Commutation Offset
Usage Access Data Type Default Min Max Semantics of Values
Required - CE SSV/GSV REAL 0 0  Electrical Degrees
PM DB
The Commutation Offset attribute is a value that 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 allowing 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 or Database Offset, the drive shall 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 shall transition to the Start Inhibited state.
If the Commutation Alignment attribute is not set to Controller Offet 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 shall be Start Inhibited.

Commutation Self-Sensing Current

Usage Access Data Type Default Min Max Semantics of Values
Optional - CE 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. This algorithm applies a current to the motor stator to orient the rotor to establish the motor commutation phasing.

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Commutation Polarity
Usage Access Data Type Default Min Max Semantics of Values
(1)
Optional - CE SSV USINT 0 - - Enumeration
PM 0 = Normal
1 = Inverted
2…255 = Reserved
When a PM motor is by using UVW signals for commutation startup, 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 via 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.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Commutation Alignment
Usage Access Data Type Default Min Max Semantics of Values
Optional - CE MSG 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) or Database Offset (4) 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 shall result in a Start Inhibit
condition. Alignment can be achieved via 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.
Both Default and Valid Commutation Alignment values depend on the selected Feedback 1 Type as defined in the following Semantics section.

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Feedback Commutation Aligned

Usage Access Data Type Default Min Max Semantics of Values
Optional - CE 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
The Commutation Alignment parameter is set to Controller Offset (1) or Database Offset (4) 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:
• 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 results in a Start Inhibit condition. Alignment can be achieved via a
Commutation Test that measures and sets the Commutation Offset for the motor or by direct user entry.
• Motor Offset (2) derives the commutation offset directly from the motor.
• Self-Sense (3) 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.
• Database Offset (4) 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.
The default commutation alignment value used for the Feedback Commutation Aligned and Commutation Alignment attributes depend on the associated Feedback Type and whether
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 the database, the motor data indicates if the motor is Factory Aligned.
Valid Commutation Alignment values used for the Feedback Commutation Aligned and Commutation Alignment attributes depend on the associated Feedback Type.

Table 45 - Feedback Type and Alignment Descriptions

Default Commutation Alignment Valid Commutation Alignment Selections
Feedback Type Factory Aligned - True Factory Aligned - False
Digital AqB - Self-Sense Not Aligned | Self-Sense(1)
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(1)
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
(1) 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.

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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.

Current Vector Limiter

The Iq Current Command passes through a Current Vector Limiter block before
becoming the Iq Current Reference signal. This limiter block 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 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.

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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.

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.

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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.

Figure 23 - Closed Loop Current Vector Control

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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 Type Default Min Max Semantics of Values
Required - F GSV T REAL - - - RPM
The Slip Compensation attribute indicates the actual amount of slip compensation currently being applied.

Frequency Control Configuration These are the Frequency Control Configuration attributes associated with the
Frequency Control method of operation of a Motion Control Axis.
Attributes
Frequency Control Method
Usage Access Data Type Default Min Max Semantics of Values
Required - F 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)
131…255 = Vendor Specific
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 using 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.

Maximum Voltage
Usage Access Data Type Default Min Max Semantics of Values
Required - F SSV REAL 460 0  Volts (RMS)
The Maximum Voltage attribute sets the highest phase-to-phase voltage the drive device can output.

Maximum Frequency
Usage Access Data Type Default Min Max Semantics of Values
Required - F SSV REAL 30 0  Hertz
The Maximum Frequency attribute sets the highest frequency the drive device can output.

Break Voltage
Usage Access Data Type Default Min Max Semantics of Values
Required - F SSV REAL 230 0  Volts (RMS)
The Break Voltage attribute sets the phase-to-phase output voltage of the drive device at the Break Frequency where boost ends. It is applicable only in Basic Volts/Hertz mode.

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Break Frequency
Usage Access Data Type Default Min Max Semantics of Values
Required - F SSV REAL 30 0  Hertz
The Break Frequency attribute sets the output frequency of the drive device at the Break Voltage where boost ends. It is applicable only in Basic Volts/Hertz mode.

Start Boost
Usage Access Data Type Default Min Max Semantics of Values
Required - F SSV REAL 8.5 0  Volts (RMS)
Eq 20
The Start Boost attribute sets phase-to-phase voltage boost level for starting and accelerating. It is applicable only in Basic Volts/Hertz mode.

Run Boost
Usage Access Data Type Default Min Max Semantics of Values
Required - F SSV REAL 8.5 0  Volts (RMS)
Eq 20
The Run Boost attribute sets the phase-to-phase voltage boost level for steady-state speed or deceleration. It is applicable only in Basic Volts/Hertz mode.

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Drive Output Attributes These are the inverter output related attributes associated with a Motion Control
Axis.

Output Frequency
Usage Access T Data Type Default Min Max Semantics of Values
Required - F GSV T REAL - - - Hertz
Optional - C
The Output Frequency attribute is the time averaged output frequency applied to the motor. Frequency value is in terms of electrical cycles.

Output Current
Usage Access T Data Type Default Min Max Semantics of Values
Required - D GSV T REAL - - - Amps (RMS)
The Output Current attribute is the total time averaged output current applied to the motor.

Output Voltage
Usage Access T Data Type Default Min Max Semantics of Values
Required - D GSV T REAL - - - Volts (RMS)
The Output Voltage attribute is the total time averaged phase-to-phase output voltage applied to the motor.

Output Power
Usage Access T Data Type Default Min Max Semantics of Values
Required - D 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.

Converter Output Current

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD GSV T REAL - - - Amps
The Converter Output Current attribute is the Output current generated by the AC/DC Bus Converter. A positive value indicates current flow out of the converter, where the converter
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 Type Default Min Max Semantics of Values
Optional - BD GSV T REAL - - - Power Units
The Converter Output Power attribute is the output power generated by the AC/DC 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 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.

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Stopping and Braking Attributes These are the active stopping and braking related attributes associated with a
Motion Control Axis.

Stopping Action
Usage Access Data Type Default Min Max Semantics of Values
Required - D SSV USINT 1 for C - - Enumeration
0 for F 0 = Disabled and Coast
1 = Current Decel Disable
2 = Ramped Decel Disable
3 = Current Decel Hold
4 = Ramped Decel Hold
5…127 = Reserved
128…255 = Vendor Specific
128 = DC Injection Brake
129 = AC Injection Brake
When disabling or aborting an axis, via 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 in the Stopped state.
• 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 applied completes 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 the Stopped state the device's inverter power structure shall either be Disabled (Disable selection) and free of torque or actively held (Hold selection) in a static
condition.
This attribute does not, in any way, determine the stopping actions applied in response to fault conditions.

Table 46 - Stopping Action Enumeration Definitions

Enumeration Usage Name Description
0 R/D Disable and Coast Disable and Coast immediately disables the device power structure 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 and Disable Current Decel and Disable leaves the power structure and any active control loops enabled while stopping. If
O/F 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 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 Current
Vector Limit attribute, rather than the Stopping Torque attribute, is used to regulate the stopping current.
2 O/VF Ramped Decel and Disable Current Decel and 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 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 and Hold Current Decel and Hold behaves like Current Decel and Disable, but 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.

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Table 46 - Stopping Action Enumeration Definitions (Continued)

Enumeration Usage Name Description
4 O/V Ramped Decel and Hold Ramped Decel and Hold behaves like Ramped Decel and Disable, but leaves the power structure with holding
torque to maintain the stopped condition. The method for generating holding torque is left to the drive vendor’s
discretion. This stop modes complies with the IEC-60204-1 Category 2 Stop.
5…127 Reserved
128…255 Vendor Specific
128 O/D DC Injection Brake DC Injection Brake immediately applies the configured DC Injection Brake Current to the motor to create a static
flux field to bring the motor to a stop before disabling the power structure.
129 O/D AC Injection Brake AC Injection Brake decreases the device output frequency from its 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 Type Default Min Max Semantics of Values
Required - C SSV REAL 100 0 103 % Motor Rated
FD 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 shall use the configured Positive and Negative Peak Current Limits.

Stopping Time Limit

Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 1 0 10 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. (See Mechanical Brake Engage Delay semantics section for details on the
disable sequence).
If Stopping Time Limit is not supported a factory set timeout may be applied. Stopping Torque can be applied to bring the motor to a successful stop before the device is disabled and
all current is removed from the motor.

Coasting Time Limit

Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 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 0 `Disable & 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 shall
apply the Stopping Time Limit value. If Stopping Time Limit is not supported a factory set timeout may be applied. See Category 0 Stop Sequence on page 222 for details.

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Resistive Brake Contact Delay

Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 Seconds
PM
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.
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.
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 applicable only 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.
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 Type Default Min Max Semantics of Values
Optional - D SSV 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0 103 Seconds
When enabling the axis, with an engaged mechanical brake, the Mechanical Brake Release Delay value determines the amount of time the device delays transition from the Starting
state to the Running or Testing states. This delay prevents any commanded motion 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.
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.

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Mechanical Brake Engage Delay

Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 Seconds
When disabling the motion axis by using a Category 1 Stopping Action, the Mechanical Brake Engage Delay value determines the amount of time the device power structure remains
enabled after the axis has decelerated to a stop. This 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.
When disabling the motion axis, the Mechanical Brake Engage Delay value determines the amount of time the inverter power structure remains enabled after the axis has decelerated
to a stop. This allows time for an external mechanical brake to engage. The configured Stopping Action determines the type of stopping sequence applied.

Stopping Sequences

There are three different stopping sequences defined by this object. 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.

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 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.

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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.

Figure 24 - Brake Control Sequence (Category 0 Stop)

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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.

Figure 25 - Brake Control Sequence (Category 1 Stop)

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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.

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.

Figure 26 - Brake Control Sequence (Category 2 Stop)

DC Injection Brake Current

Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 % Motor Rated
The DC Injection Brake Current attribute defines the brake current level injected into the motor stator when you select `DC Injection Brake’ as the Stopping Action.

DC Injection Brake Time

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0 103 Seconds
IM
The DC Injection Brake Time attribute defines the amount of time that the DC brake current is injected into the motor stator when you select `DC Injection Brake’ as the Stopping
Action.

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Flux Braking Enable

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV SINT 0 0 1 Enumeration
IM 0 = Flux Braking Disabled
1 = Flux Braking Enabled
The Flux Braking Enable attribute is a boolean value that 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.

Zero Speed
Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0  % Motor Rated
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.

Zero Speed Time

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV 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, this 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 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.

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Proving Configuration
Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV USINT 0 - - Enumeration:
0 = Disabled
1 = Enabled
2…255 = (reserved)
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, for example, 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 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 attribute semantic sections
below.
Proving Sub-Feature Attribute Dependencies
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.
Table 47 - Proving Sub-Feature Attribute Dependencies
Proving Sub Feature Controlling Attribute Attribute Prerequisite
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 Increment

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). 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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Figure 27 - Drive Enable Sequence with Proving Feature

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Figure 28 - Drive Disable Sequence with Proving Feature

Torque Prove Current

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0 103 % Motor Rated
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 Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 % Motor Rated
E
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 shall not be performed in the Starting state.

Brake Prove Ramp Time

Usage Access Data Type Default Min Max Semantics of Values
3
Optional - D SSV REAL 0 0 10 Sec
E
This attribute determines the amount of time the drive shall 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 0  Position Units
E
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.

Auto Sag Configuration

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV USINT 0 - - Enumeration:
E 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 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 Type Default Min Max Semantics of Values
Optional - D SSV REAL 0 -  Position Units
E
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 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.

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Auto Sag Time Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL .25 -  Sec
E
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 Increment
cycles. With no further slip occurring while the motor torque is ramping to zero, the Auto Sag feature transitions to 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.

Auto Sag Start

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV USINT 0 - - Enumeration:
E 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.

DC Bus Control Attributes These are Motion Control Axis attributes associated with DC Bus control,
including the functionality to address both under-voltage and over-voltage
conditions.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

DC Bus Voltage
Usage Access T Data Type Default Min Max Semantics of Values
Required - B, FPV D GSV T REAL - - - Volts
Measured DC Bus Voltage.

DC Bus Voltage - Nominal

Usage Access T Data Type Default Min Max Semantics of Values
Required - BD MSG 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. NOTE: If the device does not support this bus voltage averaging concept, the alternative is to hard code this value.

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Bus Regulator Reference

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG T REAL - - - % of Nominal Bus Voltage
Returns the current turn on voltage threshold for the bus regulator.

Power Loss Action

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D SSV USINT 1 - - Enumeration
0 = Continue (Ignore) (R)
1 = Coast Thru (R)
2 = Decel Regen (O)
3…127 = Reserved
128…255 = Vendor Specific
Set the reaction to a DC Bus under-voltage condition when the DC Bus 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 where this could possibly
result in drive damage. The Bus Undervoltage Exception Actions are set accordingly.

Table 48 - Bus Undervoltage Exception Actions Descriptions

Action Description
Coast Thru This action selection configures the drive to zero the PWM output of the drive while leaving the axis in the Running state. 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 the Power Loss Timeout period expires, a Bus Power Loss Exception is generated.
Decel Regen This action selection configures the drive to regeneratively charge the DC bus by decelerating the motor by 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 Loss Time period expires before the incoming power has restored, the drive power structure is disabled
and a Bus Power Loss exception is generated.
Inertia Regenerative An inertia regenerative action selection configures the drive to regeneratively charge the DC bus by decelerating the motor by 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 Loss Time period expires before the incoming power has restored, the drive power
structure is disabled and a Bus Power Loss exception is generated.

Power Loss Threshold

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV REAL 0 0 103 %
Sets the Level for Power Loss as percent of nominal DC Bus Voltage. If this value is 0, the hard-coded threshold is used.

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Shutdown Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV UINT 0 for D - - Enumeration
1 for B 0 = Disable (R)
1 = Drop DC Bus (R/B), (O/D)
2…127 = Reserved
128…255 = Vendor Specific
Shutdown Action selects the device's action as a result of a Shutdown Request, or in response to a Major Fault action where the best available stopping action is Disable and Coast.
Disable, the default action immediately disables the device’s power structure according to the Category 0 Stop Sequence.
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 drive that controls
power to the converter. In either case, the Shutdown Action executes the Category 0 Stop Sequence.

Power Loss Time

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV REAL 0 0  Seconds
Sets the timeout value before a Bus Power Loss Exception is generated by the drive in response to a Power Loss condition. See Power Loss Action on page 231 for details.

Power and Thermal These are the power and thermal status related attributes associated with a
Motion Control Axis.
Management Status Attributes
For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Motor Overload Protection Method

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD GSV USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
The Motor Overload Protection Method attribute 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.
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 Type Default Min Max Semantics of Values

Option - BD GSV USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
The Inverter Overload Protection Method attribute 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 Motor Rated Continuous
Current that indicates an inverter overload condition.

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Converter Overload Protection Method

Usage Access T Data Type Default Min Max Semantics of Values

Optional - BD GSV USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
The Converter Overload Protection Method attribute 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 Type Default Min Max Semantics of Values

Optional - BD GSV USINT - - - Enumeration:
0 = Thermal Model
1 = I2T Overload
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 Type Default Min Max Semantics of Values
Required - D GSV T REAL - - - % Motor Rated
The Motor Capacity attribute is the real-time estimate of the continuous rated motor thermal capacity used during operation based on the motor thermal model. A value of 100%
would indicate that the motor is being used at 100% of rated thermal 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 Type Default Min Max Semantics of Values
Required - D GSV T REAL - - - % Inverter Rated
The Inverter Capacity attribute is the real-time estimate of the continuous rated inverter thermal capacity used during operation based on the inverter thermal model. A value of 100%
would indicate that the inverter is being used at 100% of rated thermal 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 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.

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Converter Capacity
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD GSV T REAL - - - % Converter Rated
The Converter Capacity attribute is the real-time estimate of the continuous rated converter thermal capacity used during operation based on the converter thermal model. A value of
100% would indicate that the converter is being used at 100% of rated thermal 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 Type Default Min Max Semantics of Values
Optional - BD GSV T REAL - - - % Regulator Rated
The Bus Regulator Capacity attribute is the real-time estimate of the continuous rated bus regulator thermal capacity used 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 thermal 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 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.

Ambient Temperature
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG T REAL - - - °C
Current internal ambient temperature of the device enclosure.

Inverter Heatsink Temperature

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D MSG T REAL - - - °C
Current temperature of the device’s inverter heatsink, typically based on an embedded temp sensor.

Inverter Temperature
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D MSG T REAL - - - °C
Current temperature of the power block used in the inverter’s power structure, sometimes referred to as the semiconductor junction temperature.

Motor Temperature
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D MSG T REAL - - - °C
Current temperature of the motor stator, typically based on an embedded temp sensor.

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Feedback 1 Temperature
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ED MSG T REAL - - - °C
Current temperature of the Feedback 1 device.

Feedback 2 Temperature
Usage Access T Data Type Default Min Max Semantics of Values
Optional - ED MSG T REAL - - - °C
Current temperature of the Feedback 2 device.

Inverter Overload Limit

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D MSG T REAL - - - % Inverter Rated
Factory set maximum limit for Inverter Capacity that when exceeded triggers the selected Inverter Overload action.
If the drive applies an I2T inverter overload protection method, then exceeding the specified Inverter Overload Limit results in an overload condition and activates I2T overload
protection. While the inverter is overloaded, the Inverter Capacity attribute value increases to indicate how much of the inverters available I2T overload capacity has been utilized.
When Inverter Capacity reaches 100% of its rated capacity, the drive can optionally trigger an Inverter Overload Action.
When employing an overload protection method based on an inverter thermal model, the Inverter Capacity attribute value represents how much of the inverter's rated thermal
capacity, associated with the inverter thermal model, has been utilized. Once the Inverter Capacity value exceeds the Inverter Overload Limit, the drive can optionally trigger a
predetermined Inverter Overload Action.
The Inverter Overload Limit can also be used by the drive to determine the absolute thermal capacity limit of the inverter, i.e. the Inverter Thermal Overload Factory Limit, which if
exceeded, generates an Inverter Thermal Overload FL exception.

Power and Thermal These are the power and thermal configuration related attributes associated with
a Motion Control Axis.
Management Configuration
Attributes
Motor Overload Action
Usage Access T Data Type Default Min Max Semantics of Values
Optional - D 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 based 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.

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Inverter Overload Action

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D 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 alarm condition based on an I2T based 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 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.

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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.

CIP Axis State

Usage Access T Data Type Default Min Max Semantics of Values
Required - All 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
The CIP Axis State attribute is an enumerated value indicating the state of the motion axis. The CIP Axis State attribute is the correct way on a AXIS_CIP_DRIVE to determine when an
axis is in the appropriate state to be operated.
Use the CIP Axis State attribute to condition your logic as needed to make sure the axis is in the right state, including that it's completed the configuration process after download,
power up [with battery], or following axis uninhibit, before triggering motion ladder instructions.
See Motion Control Axis Behavior Model on page 303 for more information about axis behavior.

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CIP Axis Status

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T DINT - - - Bitmap
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…31 = Reserved
The CIP Axis Status attribute is a 32-bit collection of standard bits indicating the internal status conditions of the motion axis.

Table 49 - CIP Axis Status Bit Descriptions

Bit Usage Status Condition Description
0 R Local Control This bit is set if the axis is taking command reference and services from a local interface instead of the remote
(Integrated Motion on EtherNet/IP) interface. This bit is based on the current state of the Remote Mode bit of the
Node Status attribute.
1 R 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.
2 R/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
an drive axis is in the Pre-Charge state, the transition of the DC Bus Up status bit from 0 to 1 initiates 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 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 R/D Power Structure This bit is set if the axis amplifier is energized and capable of generating motor flux and torque. The value of the
Enabled Power Structure Enabled bit is determined by the Axis State and the configured Stopping Action attribute value.
4 R/D Motor Flux Up This bit is set if motor flux for an induction motor has 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.
5 R/D Tracking Command This bit is set if the axis control structure is actively tracking the command reference from the Motion Planner. The
Tracking Command bit is directly associated with the Running state of the Axis State Model.
6 R/P Position Lock This bit is set if the actual position is within Position Lock Tolerance of command position.

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Table 49 - CIP Axis Status Bit Descriptions (Continued)

Bit Usage Status Condition Description
7 O/PV Velocity Lock This bit is set if the velocity feedback signal is within Velocity Lock Tolerance of the unlimited velocity reference.
8 R/ED Velocity Standstill This bit is set if the velocity feedback signal is within 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 O/ED Velocity Threshold This bit is set if the absolute velocity feedback signal is below Velocity Threshold. For a Frequency Control drive, this
bit is set if the absolute velocity command signal is below Velocity Threshold.
10 O/FPV Velocity Limit This bit is set if the velocity reference signal is currently being limited by the Velocity Limiter.
11 O/C Acceleration Limit This bit is set if the acceleration reference signal is currently being limited by the Acceleration Limiter.
12 O/C Deceleration Limit This bit is set if the acceleration reference signal is currently being limited by the Deceleration Limiter.
13 O/C Torque Threshold This bit is set if the absolute filtered torque reference is above the Torque Threshold.
14 R/C Torque Limit This bit is set if the filtered torque reference is currently being limited by the Torque Limiter.
15 O/D Current Limit This bit is set if the command current, Iq, is currently being limited by the Current Vector Limiter.
16 O/D Thermal Limit This bit is set if Current Vector Limit condition of the axis is being limited by any of the axis’s Thermal Models or I2T
Thermal Protection functions.
17 R/E Feedback Integrity This bit, when set, indicates that the feedback device is 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 powerup assuming that the feedback device passes any power-up self test required.
If Feedback Integrity is cleared, the Axis Homed Status attribute is also cleared. This prevents Soft Overtravel
checking.
If during operation a feedback exception occurs that could impact the fidelity of the 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 via motion instructions.
Note that the Feedback Integrity bit behavior applies to both absolute and incremental feedback device operation.
18 R/BD Shutdown This bit is set when the axis is in the shutdown state or in 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 R 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 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.
20 O/D DC Bus Unload This bit is set by a CIP Motion converter, or a CIP Motion drive containing an integral converter, or a CIP Motion
drive connected to an external non-CIP converter, to indicate that the converter cannot continue supplying DC Bus
power to other drives on a shared DC Bus. 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) should also be set. 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 propagate Bus Power Sharing exceptions to all 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. The Bus Power Sharing Fault
on these drives is a persistent fault that cannot be cleared as long as the DC Bus Unload bit is set on this originating
drive or converter. The control system shall simply regenerate the Bus Power Sharing Faults based on the DC Bus
Unload status bit still being set.
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 with the DC Bus Unload condition must
first be reset via a Shutdown Reset Request. Once clear, 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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Table 49 - CIP Axis Status Bit Descriptions (Continued)

Bit Usage Status Condition Description
21 O/BD AC Power Loss This bit is set when a CIP Motion converter, or a CIP Motion drive containing an integral converter, or a CIP Motion
drive connected to an external non-CIP converter, 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, i.e. drives that are configured
for Shared AC/DC or Shared DC operation. Upon notification of AC Power Loss, drives that have enabled power
structures shall assert a Converter AC Power Loss exception and invoke the programmed Axis Exception Action.
Disabled drives shall not generate an exception action on AC Power Loss. Thus, no drive faults shall occur on
removal of AC Power from a converter as long as no drive power structures drawing power from that converter are
enabled.
22 O/C Position Control Mode When set, this bit indicates that axis position is being 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 O/C Velocity Control Mode When set, this bit indicates that axis velocity is being 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 O/C Torque Control Mode When set, this bit indicates that axis velocity is being 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 -

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 names associated with the above status conditions.

Table 50 - Standard CIP Axis Status Names

Bit Object CIP Axis Status Name
0 Local Control Status
1 Alarm Status
2 DC Bus Up Status
3 Power Structure Enabled Status
4 Motor Flux Up Status
5 Tracking Command Status
6 Position Lock Status
7 Velocity Lock Status
8 Velocity Standstill Status
9 Velocity Threshold Status
10 Velocity Limit Status
11 Acceleration Limit Status
12 Deceleration Limit Status
13 Torque Threshold Status
14 Torque Limit Status

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Table 50 - Standard CIP Axis Status Names (Continued)

Bit Object CIP Axis Status Name
15 Current Limit Status
16 Thermal Limit Status
17 Feedback Integrity Status
18 Shutdown Status
19 In Process Status
20 DC Bus Unload Status
21 AC Power Loss Status
22 PositionControlMode
23 VelocityControlMode
24 TorqueControlMode

Many of the Axis Status bits defined in Table 50 are related to the current Axis
State as shown in this table.

Table 51 - Axis Status Bit versus Axis State

Bit Axis Status Bit Initializing Pre- Shutdown Start Stopped Starting Running Testing Stopping Aborting Major
Name Charge Inhibit Faulted
0 Local Control x x x x x x x x x x x
1 Alarm x x x x x x x x x x x
2 DC Bus Up x 0 x x 1 1 1 1 1 1 x
3 Power Structure 0 0 0 0 0/1 1 1 1 1 1 0/1
Enabled
4 Motor Flux Up 0 0 0 0 0/1 1 1 1 1 1 0/1
(IM only)
5 Tracking 0 0 0 0 0 0 1 0 0 0 0
Command
6 Position Lock 0 0 0 0 0/x x x 0 x x 0/x
7 Velocity Lock 0 0 0 0 0/x x x 0 x x 0/x
8 Velocity 0 x x x x x x x x x x
Standstill
9 Velocity 0 x x x x x x x x x x
Threshold
10 Velocity Limit 0 0 0 0 0/x x x x x x 0/x
11 Acceleration 0 0 0 0 0/x x x x x x 0/x
Limit
12 Deceleration 0 0 0 0 0/x x x x x x 0/x
Limit
13 Torque Threshold 0 0 0 0 0/x x x x x x 0/x
14 Torque Limit 0 0 0 0 0/x x x x x x 0/x
15 Current Limit 0 0 0 0 0/x x x x x x 0/x
16 Thermal Limit x x x x x x x x x x x
17 Feedback x x x x x x x x x x x
Integrity

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Table 51 - Axis Status Bit versus Axis State (Continued)

Bit Axis Status Bit Initializing Pre- Shutdown Start Stopped Starting Running Testing Stopping Aborting Major
Name Charge Inhibit Faulted
18 Shutdown 0 0 1 0 0 0 0 0 0 x x
19 In Process 0 x x x x 0 0 1 0 0 0
20 DC Bus Unload 0 0 x 0 0 0 0 0 0 x x
21 AC Power Loss 0 0 x 0 0 0 0 0 0 x x
22 Position Control 0 0 0 0 0/x x x x x x 0/x
Mode
23 Velocity Control 0 0 0 0 0 x x x x x 0
Mode
24 Torque Control 0 0 0 0 0 x x x x x 0
Mode

x = 0 or 1

0/1 = 0 for Category 0 or 1 Stop, 1 for Category 2 Stop

0/x = 0 for Category 0 or 1 Stop, x for Category 2 Stop

Stopping Action Enum. Stopping Action name IEC-60204-1

0 Disable & Coast Category 0 Stop
1 Current Decel & Disable Category 1 Stop
2 Ramped Decel & Disable Category 1 Stop
3 Current Decel & Hold Category 2 Stop
4 Ramped Decel & Hold Category 2 Stop

CIP Axis Status - RA

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T DWORD - - - Enumeration
0 = Regernerative Power Input Status
1…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 I/O Status condition.

CIP Axis Status - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T DWORD - - - Enumeration
0…31 = Vendor Specific
Collection of vendor specific bits indicating the internal status of the motion axis.

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CIP Axis I/O Status

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T DINT - - - 0…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 motion 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. Any status bits that are not applicable are set to 0.
Table 52 - CIP Axis I/O Status Bit Descriptions
Bit Usage Name Description
0 R/BD Enable Input This bit represents the logical state of the Enable Input.
1 R/E Home Input This bit represents the logical state of the Home Input.
2 R/E Registration 1 Input This bit represents the logical state of the Registration 1 Input.
3 O/E Registration 2 Input This bit represents the logical state of the Registration 2 Input.
4 R/P Positive Overtravel Input This bit represents the logical state of the Positive Overtravel Input.
5 R/P Negative Overtravel Input This bit represents the logical state of the Negative Overtravel Input.
6 O/E Feedback 1 Thermostat This bit represents the logical state of the Thermostat input associated
with the motor mounted Feedback 1 device.
7 O/D Resistive Brake Output This bit represents the logical state of the Resistive Brake Output.
8 O/D Mechanical Brake Output This bit represents the logical state of the Mechanical Brake Output.
9 O/D Motor Thermostat Input This bit represents the logical state of the Motor Thermostat Input.
10…31 Reserved -

CIP Axis I/O Status - RA

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T DINT - - - Enumeration
0 = Regernerative Power Input Status
1 = Bus Capacitor Module Input Status
2 = Shunt Thermal Switch Input Status
3 = Contactor Enable Output
4 = Pre-Charge Input
5…31 = Reserved
The CIP Axis I/O Status - RA attribute is a collection of bits indicating the state of Rockwell Automation specific digital inputs associated with the operation of this motion 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.
Table 53 - CIP Axis I/O Status - RA Bit Descriptions
Bit Usage Name Description
0 D Regenerative Power Input Status This bit represents the logical state of the Regenerative Power Input.
1 BD Bus Capacitor Module Input Status This bit represents the logical state of the Bus Capacitor Module Input.
2 BD Shunt Thermal Switch Input Status This bit represents the logical state of the Shunt Thermal Switch Input
3 BD Contactor Enable Output This bit represents the logical state of the Contactor Enable Output
4 BD Pre-Charge Input This bit represents the logical state of the Pre-Charge Input.
5…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 I/O Status condition.

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CIP Axis I/O Status - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T DINT - - - Enumeration
0…31 = Vendor Specific
Collection of bits indicating the state of vendor specific digital inputs associated with the operation of this motion 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.

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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 GSV T DINT - - - Enumeration
0 = Control Sync Fault
1 = Module Sync Fault
2 = Timer Event Fault
3 = Module Hard Fault
4 = Reserved
5 = Reserved
6 = Module Conn. Fault
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 = Control Clock Sync Fault
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.

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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.

Table 54 - Module Fault Bits

Bit Fault Name Description
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 affecting
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 The Module Sync Fault bit attribute is set when 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 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 affecting 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 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 -- Reserved --
5 -- Reserved --
6 Module Conn Fault The Module Connection Fault bit indicates that the CIP Motion C-to-D connection from the controller has timed out.
7 Conn Format Fault 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 The Processor Watchdog Fault bit indicates that the 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.
13 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 The Control Connection Loss fault bit indicates that the CIP Motion C-to-D connection from the controller has timed out.
15 Reserved
16 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…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 (40…60
seconds)
17 Logic Watchdog Fault The Logic Watchdog Fault bit indicates that an auxiliary 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 Fault The Duplicate Address Fault bit indicates that a motion device node has been detected on the network that using the same Node
Address as this device node. For Ethernet, this address would be the IP Address of the device.
19…31 Reserved

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Module Alarm Bits

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T DINT - - - Enumeration
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.

TIP Cyclic write attributes are unique in that they have attribute storage policed
by the object handler (either Logix Designer or GSV/SSV) and also have
direct tag access which bypass the object validation.
The value written into the tag is validated before being written to the drive
and that if that validation fails you will see an 'out of range alarm' and flag
it in the axis fault/alarm log but that the value in the tag remains as written
by the user. The value of the internal attribute as viewed via GSV or in Logix
Designer shows the previously validated value.

This 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.

Table 55 - Module Alarm Bit Descriptions

Bit Fault Name Description

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 The Module Sync Alarm bit attribute is set when 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 The Processor Overload Alarm bit indicates that the host processor associated with motion device is experiencing overload conditions
that could eventually lead to a fault.
4 Clock Jitter Alarm The 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 bit is set when the drive determines that a Cyclic Write attribute value is out of range.
6 Clock Skew Alarm The 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.

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Table 55 - Module Alarm Bit Descriptions

Bit Fault Name Description

7 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, for example, 10 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.
8 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.
9…31 Reserved

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This 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.

Table 56 - Module Fault Conditions

Bit Fault Name Description

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 affecting
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 The Module Sync Fault bit attribute is set when 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 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 affecting 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 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 Reserved
5 Reserved
6 Module Conn Fault The Module Connection Fault bit indicates that the CIP Motion C-to-D connection from the controller has timed out.
7 Conn Format Fault This fault code 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 The Processor Watchdog Fault code indicates that the 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.
13 Clock Skew Fault Clock Skew Fault code 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 The Control Connection Loss fault code indicates that the CIP Motion C-to-D connection from the controller has timed out.
15 Reserved
16 Clock Sync Fault The Clock Sync Fault code indicates that the motion device’s local clock has lost synchronization with the master clock for an extended
period of time, for example, ~40 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, for example, 40
seconds.
17 Logic Watchdog Fault The Logic Watchdog Fault code indicates that an auxiliary 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 Fault The Duplicate Address Fault code indicates that a motion device node has been detected on the network that by using the same Node
Address as this device node. For Ethernet, this address would be the IP Address of the device.
19…31

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Configuration Fault Attributes These are the configuration fault related attributes associated with a Motion
Control Axis.

Attribute Error Code

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T INT - - - See CIP Error Codes on page 324 for more information.
The Attribute Error Code attribute is the ASA Error code associated with an erred configuration attribute.

Attribute Error ID
Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T INT - - -
The Attribute Error ID attribute is the attribute ID associated with non-zero Attribute Error Code.

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 motion
Attributes axis operation that have the potential of generating faults or alarms.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

CIP Axis Exceptions

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T LWORD - - - See Standard Exceptions on page 252 for more information.
A bit map that represents the current state of all standard exception conditions. Each exception has a corresponding Axis Exception Action. Exceptions that are configured to be Ignored
are only be visible in this attribute.

CIP Axis Exceptions - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T LWORD - - - See Standard Exceptions on page 252 for more information.
A bit map that represents the current state of all manufacturer specific exception conditions. See the Mfg. Exception Table published in the drive product manual. Each exception has a
corresponding Axis Exception Action. Exceptions that are configured to be Ignored are only be visible in this attribute.

CIP Axis Exceptions -RA

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T LWORD - - - See Standard Exceptions on page 252 for more information.
A bit map that represents the current state of all Rockwell Automation specific exception conditions. Each exception has a corresponding Axis Exception Action. Exceptions that are
configured to be Ignored are only be visible in this attribute.

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CIP Axis Faults

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T LWORD - - - See Standard Exceptions on page 252 for more information.
The CIP Axis Faults attribute is 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. When fault bits are
set, they 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 Axis Exception Action is configured to ignore or report as alarms do not appear in this attribute.

CIP Axis Faults - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T LWORD - - - See Standard Exceptions on page 252 for more information.
A bit map that represents the state of all manufacturer specific runtime faults. The bit map is identical to that of the Mfg. 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 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 Type Default Min Max Semantics of Values
Required - All GSV T LWORD - - - See Standard Exceptions on page 252 for more information.
The CIP Axis Faults - RA attribute is a bit map that represents the state of all manufacturer specific runtime faults. When fault bits are set, they 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 Axis Exception Action is
configured to ignore or report as alarms do not appear in this attribute.

CIP Axis Alarms

Usage Access T Data Type Default Min Max Semantics of Values
Optional - All GSV T LWORD - - - See Standard Exceptions on page 252 for more information.
The CIP Axis Alarms attribute is a bit map that represents the current state of all standard alarm conditions. The bit map is identical to that of the Standard 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.
When alarm bits are set, they are not latched and will clear as soon as the underlying exception condition is corrected.

CIP Axis Alarms - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Optional - All MSG T LWORD - - - See Standard Exceptions on page 252 for more information.
A bit map that represents the current state of all manufacturer specific alarm conditions. The bit map is identical to that of the Mfg. 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 - RA

Usage Access T Data Type Default Min Max Semantics of Values
Optional - All GSV T LWORD - - - See Standard Exceptions on page 252.
The CIP Axis Alarms - RA attribute is a bit map that represents the current state of all manufacturer 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. When alarm bits are set, they are not latched and will clear as soon as
the underlying exception condition is corrected.

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Standard Exceptions These are the standard exception conditions associated with the CIP Axis
Exceptions, CIP Axis Faults, and CIP Axis Alarms attributes. While the CIP
Axis Exceptions, CIP Axis Faults, and CIP Axis Alarms attributes are all
Required in the CIP Motion device implementation, support for each of the
individual exception conditions is Optional. The Rule column in the table below
indicates the Device Function Codes where the associated exception is
applicable.

The enumeration for all exceptions is as follows:

0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)

For more information about Device Function Codes, listed as rules in the table
below, see Device Function Codes on page 26.

Table 57 - Standard Exception Conditions for Position, Velocity, Torque, and Frequency Control Modes
Bit Rule Exception Description
0 - Reserved This bit cannot be used because 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 The Permanent magnet motor commutation anomaly is detected. An example would be an illegal state `111’ or
`000’ for UVW commutation signals, S1, S2, and S3.
3 D Motor Overspeed FL Motor speed has exceeded its maximum limit given by 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 Fault 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.
6 D Motor Overtemperature UL Fault Returns the Factory Limit for the Motor Overtemperature FL exception based on a user-defined set value related to
the Motor Max Winding Temperature of the motor.
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.
9 D Motor Phase Loss The current in one or more motor phases has been lost, or below a factory set threshold or, if supported, the
configured Motor Phase Loss Limit. This exception is associated also 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 needs 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 Inverter Overtemperature Factory Limit.

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Table 57 - Standard Exception Conditions for Position, Velocity, Torque, and Frequency Control Modes (Continued)
Bit Rule Exception Description
12 - Reserved -
13 D Inverter Thermal Overload FL Inverter thermal model or I2T overload value has exceeded its factory set thermal capacity limit given by 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 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 Converter Ground Current Factory Limit.
17 BD Converter Ground Current UL Ground Current has exceeded the user-defined limit given by Converter Ground Current User Limit.
18 BD Converter Overtemperature FL Converter temperature has exceeded its factory set temperature limit given by Converter Overtemperature Factory
Limit.
19 BD Converter Overtemperature UL Converter temperature or I2T overload value has exceeded the user-defined temperature limit given by 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 Converter
Thermal Overload Factory Limit.
21 BD Converter Thermal Overload UL Converter thermal model has exceeded its user-defined thermal capacity given by Converter Thermal Overload User
Limit.
22 BD Converter AC Power Loss Multiple AC phases has been lost on the AC line to the converter. This usually happens as a result of opening an AC line
contactor. 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 via the 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 has 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 An anomaly has been detected in the Converter’s Pre-charge circuitry preventing the DC Bus from charging to an
acceptable voltage level.
26 - Reserved -
27 BD Bus Regulator Overtemperature FL Bus Regulator temperature has exceeded its factory set temperature limit given by Bus Regulator Overtemperature
Factory Limit.
28 BD Bus Regulator Overtemperature UL Bus Regulator temperature has exceeded the user-defined temperature limit given by Bus Regulator
Overtemperature User Limit.
29 BD Bus Regulator Thermal Overload FL Bus Regulator thermal model or I2T overload value has exceeded its factory set thermal capacity limit given by Bus
Regulator Thermal Overload Factory Limit.
30 BD Bus Regulator Thermal Overload UL Bus Regulator thermal model or I2T overload value has exceeded its user-defined thermal capacity given by Bus
Regulator Thermal Overload User Limit.
31 BD Bus Regulator Failure The bus regulator (shunt) module has failed.
32 BD Bus Capacitor Module Failure The bus capacitor module has failed.
33 BD Bus Undervoltage FL DC Bus voltage level is below the factory set limit given by Bus Undervoltage Factory Limit.
34 BD Bus Undervoltage UL DC Bus voltage level is below user-defined limit given by Bus Undervoltage User Limit.
35 BD Bus Overvoltage FL DC Bus voltage level is above the factory set limit given by Bus Overvoltage Factory Limit.
36 BD Bus Overvoltage UL DC Bus voltage level is above user-defined limit given by 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 Bus Power
Loss Time value.
38 BD Bus Power Blown Fuse DC Bus power loss due to blown fuse.
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.

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Table 57 - Standard Exception Conditions for Position, Velocity, Torque, and Frequency Control Modes (Continued)
Bit Rule Exception Description
40 D 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, page 239, 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.
48 - Reserved -
49 D Brake Slip Motor displacement has exceeded the Brake Slip Tolerance while the mechanical brake is engaged.
50 D Hardware Overtravel Positive The 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 The 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 - Reserved -
53 - Reserved -
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.
For a CIP Axis, the Kinetix 6500 Drive has the Velocity Error check = Active (default), for a SERCOS Kinetix 6000 Drive
the Velocity Error check = NotActive (default), so an AXIS_CIP_DRIVE gets an occasional ‘Drive Error #55 Excessive
Velocity Error’.
To work around this issue, you can change either of these two CIP Axis attributes:
• On the Velocity Loop page: Velocity Error Tolerance, raise the error tolerance.
• On the Velocity Loop parameter page: Velocity Error Tolerance Time (0.01 seconds default), raise the time
tolerance.
If neither of these changes solves this issue, then go to the Actions page and set the Excessive Velocity Error
attribute to ignore.
56 C Overtorque Limit Motor torque has risen above user-defined maximum torque level given by Overtorque Limit.

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Table 57 - Standard Exception Conditions for Position, Velocity, Torque, and Frequency Control Modes (Continued)
Bit Rule Exception Description
57 C Undertorque Limit Motor torque has dropped below user-defined minimum torque level given by Undertorque Limit.
58 - Reserved -
59 - Reserved -
60 ALL Illegal Control Mode Controller has specified an unsupported Control Mode or Feedback Mode.
61 D Enable Input Deactivated Enable Input has been deactivated while the axis power structure is enabled and supplying current to the DC Bus or
motor.
62 ALL Controller Initiated Exception Exception generated specifically by controller.
63 ALL External Input Exception Exception generated by external input to device.

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Standard CIP Axis Fault Names 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. This table lists the resulting Fault names
associated with the above exception conditions.

Table 58 - Standard Fault Names for the Exception Conditions

Bit Object CIP Axis Fault Name Bit Object CIP Axis Fault Name
0 33 Bus Undervoltage FL Fault
1 Motor Overcurrent Fault 34 Bus Undervoltage UL Fault
2 Motor Commutation Fault 35 Bus Overvoltage FL Fault
3 Motor Overspeed FL Fault 36 Bus Overvoltage UL Fault
4 Motor Overspeed UL Fault 37 Bus Power Loss Fault
5 Motor Overtemperature FL Fault 38 Bus Power Blown Fuse Fault
6 Motor Overtemperature UL Fault 39 Bus Power Leakage Fault
7 Motor Thermal Overload FL Fault 40 Bus Power Sharing Fault
8 Motor Thermal Overload UL Fault 41 Feedback Signal Noise FL Fault
9 Motor Phase Loss Fault 42 Feedback Signal Noise UL Fault
10 Inverter Overcurrent Fault 43 Feedback Signal Loss FL Fault
11 Inverter Overtemperature FL Fault 44 Feedback Signal Loss UL Fault
12 Inverter Overtemperature UL Fault 45 Feedback Data Loss FL Fault
13 Inverter Thermal Overload FL Fault 46 Feedback Data Loss UL Fault
14 Inverter Thermal Overload UL Fault 47 Feedback Device Fault
15 Converter Overcurrent Fault 48
16 Converter Ground Current FL Fault 49 Brake Slip Fault
17 Converter Ground Current UL Fault 50 Hardware Overtravel Positive Fault
18 Converter Overtemperature FL Fault 51 Hardware Overtravel Negative Fault
19 Converter Overtemperature UL Fault 52 Position Overtravel Positive Fault
20 Converter Thermal Overload FL Fault 53 Position Overtravel Negative Fault
21 Converter Thermal Overload UL Fault 54 Excessive Position Error Fault
22 Converter AC Power Loss Fault 55 Excessive Velocity Error Fault
23 Converter AC Single Phase Loss Fault 56 Overtorque Limit Fault
24 Converter AC Phase Short Fault 57 Undertorque Limit Fault
25 Converter Pre Charge Fault 58
26 59
27 Bus Regulator Overtemperature FL Fault 60 Illegal Control Mode Fault
28 Bus Regulator Overtemperature UL Fault 61 Enable Input Deactivated Fault
29 Bus Regulator Thermal Overload FL Fault 62 Controller Initiated Fault
30 Bus Regulator Thermal Overload UL Fault 63 External Input Fault
31 Bus Regulator Fault
32 Bus Capacitor Module Fault

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Rockwell Automation Specific Exceptions

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
Alarms-RA attributes. While the CIP Axis Exceptions - RA, CIP Axis Faults -
RA, and CIP Axis Alarms - RA attributes 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 table below indicates the Device
Function Codes where the associated exception is applicable.

The enumeration for all exceptions is as follows:

0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)

Table 59 - Rockwell Automation Specific Exception Descriptions for Position, Velocity, and Torque Control Modes
Bit Rule Exception Description
0 - -- Reserved -- This bit cannot be used because 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 This occurs when 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 This occurs when 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 Error The periodic check of the incremental encoder position against the absolute encoder position or Hall
edges indicates they are out of tolerance.
8 - Reserved -
9 - Reserved -
10 N Control Module Overtemperature FL Kinetix: The control module temperature has exceeded its limit.
Rhino: The temperature sensor on the Main Control Board detected excessive heat.
11 - Reserved -
12 D Converter Pre-Charge Overload FL The converter estimates that the pre-charge circuit has exceeded its factory limit due to excessive
power cycling.
13 - Reserved -
14 D Excessive Current Feedback Offset Current in one or more phases has been lost or remains below a preset level.
15 D Regenerative Power Supply Failure The hardware Regeneration OK input was deactivated while the drive was enabled.
16 D PWM Frequency Reduced Carrier Frequency foldback due to excessive Junction Temperature.
17 D Current Limit Reduced Current Limit was reduced due to excessive Junction Temperature or due to Overload Protection.
18 D Torque Prove Failure Actual feedback indicates error in torque proving.

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Table 59 - Rockwell Automation Specific Exception Descriptions for Position, Velocity, and Torque Control Modes (Continued)
Bit Rule Exception Description
19 D Decel Override The drive is not following a commanded deceleration because it is attempting to limit bus voltage.
20 D Preventative Maintenance The component has reached its lifetime limit.
21 D Motor Test Failure The Motor Test procedure has failed.
22 D Hardware Configuration There is an error related to the tracking of optional hardware installation.
23 D Firmware Change There are errors or forced configuration changes relating to the firmware update.
24 D Converter Pre-Charge Input Deactivated The Pre-Charge Input has been deactivated while the axis power structure is enabled and supplying
current to the DC Bus or motor.
25 D DC Common Bus An error has been detected related to Common Bus operation.
26 ALL Runtime Error Runtime assertions are detected.
27 D Backplane Communication Error An error in communicating over the modular backplane.
28 D Safety Module Communication Error An error in communicating to the Safety module.
29…62 - Reserved -
63 ALL Product Specific Product Specific (exotic) exceptions by Sub Code.

Feedback Only Standard Exceptions

This table lists the standard exceptions applicable to No Control mode, Feedback
only.

The enumeration for all exceptions is as follows:

0 = Ignore (O)
1 = Alarm (O)

Table 60 - Feedback Only Standard Exceptions

Bit Exception
41 Feedback Signal Noise FL (O)
42 Feedback Signal Noise UL (O)
43 Feedback Signal Loss FL (O)
44 Feedback Signal Loss UL (O)
45 Feedback Data Loss FL (O)
46 Feedback Data Loss UL (O)
47 Feedback Device Failure (O)
60 Illegal Control Mode (O)
62 Controller Initiated Exception (O)
63 External Exception Input (O)

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Rockwell Automation Specific CIP Based on the Exception Action configuration, Exception conditions can become
Axis Fault Names 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. This table lists the resulting Fault names
associated with the above exception conditions.

Table 61 - Rockwell Automation CIP Axis Fault Descriptions

Bit Object CIP Axis Fault Name Bit Object CIP Axis Fault Name
0 16 PWM Frequency Reduced Fault
1 Commutation Startup Fault 17 Current Limit Reduced Fault
2 Motor Voltage Mismatch 18 Torque Prove Fault
3 19 Decel Override Fault
4 Feedback Filter Noise Fault 20 Preventative Maintenance Fault
5 Feedback Battery Loss Fault 21 Motor Test Fault
6 Feedback Battery Low Fault 22 Hardware Configuration Fault
7 Feedback Incremental Count Error Fault 23 Firmware Change Fault
8 24 DC Common Bus Fault
9 25 Runtime Error Fault
10 Control Module Overtemperature FL Fault 26 Backplane Communication Error Fault
11 Control Module Overtemperature UL Fault 27 Safety Module Communication Error Fault
12 Converter Pre Charge Overload FL Fault 28
13 Converter Pre Charge Overload UL Fault 29…62
14 Excessive Current Feedback Offset Fault 63 Product Specific Fault
15 Regenerative Power Supply Fault

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Rockwell Automation Specific CIP This table lists the resulting Alarm names associated with the above exception
Axis Alarm Names conditions.

Table 62 - Rockwell Automation Specific CIP Axis Alarm Names Descriptions

Bit Object CIP Axis Alarm Name Bit Object CIP Axis Alarm Name
0 19 Decel Override Alarm
1 Commutation Startup Alarm 20 Preventative Maintenance Alarm
2 21 Motor Test Alarm
3 22 Hardware Configuration Alarm
4 Feedback Filter Noise Alarm 23 Firmware Change Alarm
5 Feedback Battery Loss Alarm 24 DC Common Bus Alarm
6 Feedback Battery Low Alarm 25 Runtime Error Alarm
7 Feedback Incremental Count Error Alarm 26 Backplane Communication Error Alarm
8 27 Safety Module Communication Error Alarm
9 28
10 Control Module Overtemperature FL Alarm 29…62
11 Control Module Overtemperature UL Alarm 63 Product Specific 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
17 Current Limit Reduced Alarm
18 Torque Prove Alarm

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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
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. 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.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Rotary Motor Overspeed Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL - - - RPM
The rotary Motor Overspeed Factory Limit attribute returns the Factory Limit for the Motor Overspeed FL 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.
An Operational Speed Limit is imposed by all Rockwell Automation drive products to comply with a 600 Hz export restriction.
Operational Speed Limit (RPM) = 590 (Hz) * 120 / Rotary Motor Poles.

Linear Motor Overspeed Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL - - - m/s
The Linear Motor Overspeed Factory Limit attribute returns the Factory Limit for the Motor Overspeed FL 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.

Bus Overvoltage Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL Volts
Returns the Factory Limit for the Bus Overvoltage FL exception.

Bus Undervoltage Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL Volts
Returns the Factory Limit for the Bus Undervoltage FL exception.

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Feedback Noise Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - E MSG UDINT Noise Counts
Returns the Factory Limit for the Feedback Noise FL exception.

Feedback Signal Loss Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - E MSG REAL % Nominal Voltage
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 MSG UDINT Consecutive Lost Data Packets
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 MSG REAL °C
Returns the Factory Limit for the Control Module Overtemperature FL exception.

Converter Pre-charge Overload Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL % Converter Rated
Returns the Factory Limit for the Converter Pre-Charge Overload FL exception.

Bus Regulator Overtemperature Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL °C
Returns the Factory Limit for the Bus Regulator Overtemperature FL exception.

Motor Overtemperature Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL °C
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 MSG REAL % Motor Rated
Returns the Factory Limit for the Motor Thermal Overload FL exception based on a factory set value related to the Motor Overload Limit rating.

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Inverter Overtemperature Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL °C
Returns the Factory Limit for the Inverter Overtemperature FL exception based on a factory set value related to the Inverter Overload Limit rating.

Inverter Thermal Overload Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL % Inverter Rated
Returns the Factory Limit for the Inverter Thermal Overload FL exception.

Converter Overtemperature Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL °C
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 MSG REAL % Converter Rated
Returns the Factory Limit for the Converter Thermal Overload FL exception.

Converter Ground Current Factory Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL - - - Amps
Returns the Factory Limit for the Converter Ground Current FL exception.

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Exception User Limit These are the exception user limit configuration related attributes associated with
a Motion Control Axis.
Configuration Attributes
For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Motor Phase Loss Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D 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 disables the motor phase loss test.

Motor Overspeed User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL 120 0  % Motor Rated
The Motor Overspeed User Limit attribute 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 Overtemperature User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL 125 0  °C
Sets User Limit for the Motor Overtemperature UL exception.

Motor Thermal Overload User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL 110 0  % Motor Rated
The Motor Thermal Overload User Limit attribute sets the User Limit for the Motor Thermal Overload UL exception.

Inverter Overtemperature User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D MSG REAL 125 0  °C
Sets User Limit for the Inverter Overtemperature UL exception.

Inverter Thermal Overload User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV REAL 110 0  % Inverter Rated
The Inverter Thermal Overload User Limit attribute sets the User Limit for the Inverter Thermal Overload UL exception.

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Feedback Noise User Limit

Usage Access Data Type Default Min Max Semantics of Values
31
Optional - E SSV UDINT 1 1 2 Noise Counts
The Feedback Noise User Limit attribute sets the 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.

Feedback Signal Loss User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - E SSV REAL 100 0  % FL Voltage Drop
The Feedback signal Loss User Limit attribute sets the User Limit for the Feedback Signal Loss UL exception. Feedback interface hardware typically monitors 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 Type Default Min Max Semantics of Values
Optional - E SSV UDINT 4 1 231 Consecutive Lost Data Packets
The Feedback Data Loss User Limit attribute sets the 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.

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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.

CIP Axis Exception Action

Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix USINT 4 (D) - - Enumeration for Drive Modes (D)
Designer 2 (E) 0 = Ignore (O)
4 (B) 1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)
4 = Stop Drive (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 Converters (B)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Stop Drive (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.
See Stopping Action on page 218 when using the exception Stop Drive.

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CIP Axis Exception Action - Mfg

Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix USINT 4 (D) - - Enumeration for Drive Modes (D)
Designer 2 (E) 0 = Ignore (O)
4 (B) 1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)
4 = Stop Drive (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: (B)
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Stop Drive (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 manufacturer specific axis exception.
See Stopping Action on page 218 when using the exception Stop Drive.

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CIP Axis Exception Action - RA

Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix USINT 4 (D) - - Enumeration for Drive Modes (D)
Designer 2 (N) 0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = Stop Planner (O)
4 = Stop Drive (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 (B) for Converter Only
0 = Ignore (O)
1 = Alarm (O)
2 = Fault Status Only (O)
3 = N/A
4 = Stop Drive (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.
See Axis Exception Action Configuration Attributes on page 266 for more information.
See Stopping Action on page 218 when using the exception Stop Drive.
The Axis Exception Action - RA and Axis Exception Action-Mfg (not supported) attributes are 64-element arrays of enumerated bytes that specifies the action 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 `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 `Invalid Attribute
Value’ service error code (0x09). For drives that support Rockwell Automation specific axis exceptions, the 64-element CIP Axis Exception-RA array is sent to the drive device as the CIP
Axis Exception-Mfg attribute.

Table 63 - CIP Axis Exceptions Action - RA Descriptions

Enumeration 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 drive device (D) to set the associated bit in the Axis Alarm word, but to otherwise not affect 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 Axis Faults word, but otherwise does not affect axis
Required (E) 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 (D) Stop Planner Stop Planner instructs the device 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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Table 63 - CIP Axis Exceptions Action - RA Descriptions (Continued)

Enumeration Usage Name Description
4 Required (BD) Stop Drive The Stop Drive 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. Standard stopping modes, listed in
decreasing levels of deceleration control, are as follows.
1. Ramp Decel
2. Current Limit Decel
3. Coast
In general, the `best’ stopping mode 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 axis is the state with the most control functionality still available given the exception condition.
However, all these final states a fault reset must be executed before the axis can be restored to enabled operation and
commanded to move.
The specific stopping action and final state associated with a given Stop Drive exception action is captured in the Axis Fault
Action attribute that is included in the Fault Log record. These are the Axis Fault Action enumerations.
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
• If the application requires exception action that is a more severe stopping action than the factory set `best’ method, the
controller initiates that action.
• If the application requires exception action that is less severe than the factory set `best’ method, the controller
configures 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 will only be allowed by the device when there is an opportunity, albeit temporal, 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 Stop Drive 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 either 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, for example, the stopping action that requires the lowest level of control functionality. This rule also applies to the
Stopping Action associated with a Disable Request.
See Stopping Action on page 218
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. This immediately disables 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 `Invalid Attribute
Value’ service error code (0x09).

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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.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

CIP Initialization Faults

Usage Access T Data Type Default Min Max Semantics of Values
Required - All GSV T DINT - - - See Standard Initialization Faults on page 270.
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 start-up 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 GSV T DINT - - - See Standard Initialization Faults on page 270.
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 start-up 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 - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Required - All MSG T DINT - - - See manufacturers product information.
A bit map that represents the state of all manufacturer 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.

Standard Initialization Faults

This table defines a list of standard faults associated with the Initialization Faults
attribute.

Table 64 - Standard Initialization Faults Bit Descriptions

Bit Exception Description
0 Reserved This bit cannot be used because 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 integrated motion
device detected as part of Self-Test.
2 Main Block Checksum Fault Checksum or CRC error for Main Block of integrated motion
device detected as part of Self-Test.

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Table 64 - Standard Initialization Faults Bit Descriptions (Continued)

Bit Exception Description
3 Nonvolatile Memory Checksum Fault Checksum or CRC error for NV Memory of integrated motion
device detected as part of Self-Test.
4 Commutation Not Configured The associated PM motor commutation function has not
been configured for use.
5…31 Reserved -

Rockwell Automation Specific Initialization Faults

This table defines a list of Rockwell Automation specific faults associated with
the Initialization Faults-RA attribute.

Table 65 - Rockwell Automation Specific Initialization Faults Bit Description

Bit Exception Description
0 Reserved This bit cannot be used because 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.
2 Feedback Data Range Data within a motor data blob is out of range.
3 Feedback Communication Startup Communication 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 Excessive encoder speed resulted in an error in establishing commutation position.
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 AM 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 -

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Start Inhibit Attributes These are the Start Inhibit related attributes associated with a Motion Control
Axis. Start Inhibits are conditions that prevent transition of the motion axis from
the Stopped State into any of the operational states.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

CIP Start Inhibit

Usage Access T Data Type Default Min Max Semantics of Values
Required - D GSV T WORD - - - See Standard Start Inhibits on page 272 for more information.
A bit map that specifies the current state of all standard conditions that inhibits starting of the axis.

CIP Start Inhibits - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Required - D MSG T WORD - - - See manufactures product information.
A bit map that specifies the current state of all manufacturer specific conditions that inhibits starting of the axis.

CIP Start Inhibits - RA

Usage Access T Data Type Default Min Max Semantics of Values
Required - D GSV T WORD - - - See Standard Start Inhibits on page 272 for more information.
A bit map that specifies the current state of all Rockwell Automation specific conditions that inhibits starting of the axis.

Standard Start Inhibits

This table defines a list of standard start inhibits associated with the Start
Inhibits attribute.
Table 66 - Standard Start Inhibit Bit Descriptions
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 Axis Enable Input Axis 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.
4 Commutation Not Configured The associated PM motor commutation function has not been
configured for use.
5 Safe Torque Off Active(1) 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…15 Reserved -

(1) For complete information about Safe Torque Off, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001.

Start Inhibit bit names always end with an Inhibit suffix, Axis Enable Input
Inhibit.

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Rockwell Automation Specific Start Inhibit

This table defines a list of specific start inhibits associated with the Start Inhibits
attribute.
Table 67 - Specific Start Inhibit Bit Descriptions
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 Required Can't run by using the selected motor control mode with Primary Feedback or
Alternate Feedback set as open loop.
3 Speed Limit Configuration Speed Ref Limit Conflict, either Minimum Forward Speed Limit exceeds
Maximum Forward Speed Limit, or Minimum Reverse Speed Limit exceeds
Maximum Reverse Speed Limit.
4 Torque Prove Configuration When Proving Configuration is enabled, Control Mode, Feedback Mode,
Motor Feedback Type, and Motor Option Configuration will be properly set.
5 Safe Torque Off(1) The safety function has disabled the power structure. This inhibit condition is
limited to Rockwell Automation’s vendor specific hard-wired safety feature.
6 Safety Reset Required The safety reset input needs to be toggled before the safety board allows
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 being held active. This inhibit condition prevents the drive from
Starting for as long as the Stop Command remains active.
9 Feedback Device Reset The feedback device is being reset. A feedback device reset process is typically
performed after a Feedback Loss condition. This inhibit condition prevents
the drive from Starting for as long as the feedback reset process take to
complete.
10 Brake Malfunction This start inhibit is set when the Auto Sag function is enabled. Brake slip is
detected based on motor movement exceeding the configured Brake Slip
Tolerance while the mechanical brake is engaged. This generally indicates
that the mechanical brake may not be capable of holding the load.
11…15 Reserved -

(1) For complete information about Safe Torque Off, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001.

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This table maps the Inhibit names above with their the Logix Designer
application Inhibit tag names. Start Inhibit bit names always end with an Inhibit
suffix.

Table 68 - Start Inhibit Bit Names

Bit Object CIP Init Fault Name Bit Object CIP Init Fault Name
0 6 Safety Reset Required Inhibit
1 Volts Hertz Curve Definition Inhibit 7 Safety Not Configured Inhibit
2 Motor Feedback Required Inhibit 8 Stop Command Active Inhibit
3 Speed Limit Configuration Inhibit
4 Torque Prove Configuration Inhibit
5 Safe Torque Off Inhibit

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APR Fault Attributes The following attribute table contains all APR (Absolute Position Recovery)
fault related attributes associated with a Motion Device Axis. 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.

For information on Absolute Position Recovery (APR), see the Integrated

Motion Configuration and Startup manual, publication MOTION-UM003.

For more information on how to access an attribute with a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

CIP APR Faults

Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T WORD - - -
The CIP APR Faults attribute is a bit map 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.

CIP APR Faults - Mfg

Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T WORD - - -
A bit map that represents the state of all manufacturer 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. APR faults are recoverable and can be cleared with a Fault Reset request.

CIP APR Faults - RA

Usage Access T Data Type Default Min Max Semantics of Values
Optional - E MSG T WORD - - -
The CIP APR Faults - RA attribute is a bit map 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.

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Standard APR Faults

The following table defines a list of standard faults associated with the APR
Faults attribute.

Table 69 - Standard APR Fault Bit Descriptions

Bit Exception Description
0 Reserved This bit cannot be used because 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 Mismatch Position Feedback Serial Number does not match saved Feedback
Serial Number.
4 Buffer Allocation Fault Caused when there is not enough RAM memory left to save APR
data.
5 Scaling Configuration Changed Scaling attribute configuration for this axis has changed and does
not match the saved scaling configuration.
6 Feedback Mode Changed Feedback Mode has changed and does not match the saved
Feedback Mode configuration.
7 Feedback Integrity Loss Feedback Integrity bit of CIP Axis Status attribute has transitioned
from 1…0 during device operation.
8…15 Reserved -

Rockwell Automaton Specific APR Fault Table

This table defines a list of Rockwell Automation specific faults associated with
the Initialization Faults-RA attribute.

Table 70 - Specific APR Fault Bit Descriptions

Bit Exception Description
0 Reserved This bit cannot be used because 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 -

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Axis Info Attributes These are the attributes that provide information about the associated hardware
capabilities of Motion Control Axis.

For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Inverter Rated Output Voltage

Usage Access T Data Type Default Min Max Semantics of Values
Required - D MSG 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 Type Default Min Max Semantics of Values
Required - D MSG 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 Type Default Min Max Semantics of Values
Required - D MSG 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 Type Default Min Max Semantics of Values
Optional - BD MSG REAL - - - Amps (RMS)
The Converter Rated Output Current attribute is the drive converter output current rating. This value is determined by the motion axis from the associated converter.

Converter Rated Output Power

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG REAL - - - Kilowatts
The Converter Rated Output Power attribute is the drive converter output power rating. This value is determined by the motion axis from the associated converter.

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Drive General Purpose I/O These are general purpose attributes for analog and digital I/O associated with
the Motion Control Axis.
Attributes
For more information on how to access an attribute using a MSG instruction, see
Access with a MSG (a message) Instruction on page 52.

Digital Inputs
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD GSV 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 Input Configuration

Usage Access T Data Type Default Min Max Semantics of Values

Optional - BD SSV T USINT [32] - - - Bitmap
0 = Unassigned
1 = Enable
2 = Home
3 = Registration 1
4 = Registration 2
5 = Positive Over-travel
6 = Negative Over-travel
7 = Regeneration OK
8 = Bus Capacitor OK
9 = Shunt Thermal Switch OK
10 = Home & Registration 1
11 = Motor Thermostat OK
12 = Pre-Charge OK
The Digital Input Configuration attribute is an array of enumerated values that map configurable digital inputs to specific functions of the drive axis.
Functions that are not mapped to a digital input shall not be checked by the drive, nor generate associated exceptions or events. Associated exception actions in this case are accepted
by the device as a “Don’t Care”.

Digital Outputs
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV 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.

Digital Output Configuration

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV T USINT [32] 0 - - Bitmap
0 = Unassigned
1 = Contactor Enable
2 = Mechanical Brake Engage
3 = Resistive Brake Engage
The Digital Output Configuration attribute is an array of enumerated values that map configurable digital output to specific functions of the drive axis.

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Analog Input 1
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD GSV T REAL - - - % Full Scale
The Analog Input 1 attribute is a general purpose analog input 1 level.

Analog Input 2
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD GSV T REAL - - - % Full Scale
The Analog Input 2 attribute is a general purpose analog input 2 level.

Analog Output 1
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV T REAL 0 -100 +100 % Full Scale
The Analog Output 1 attribute is a general purpose analog output 1 level.

Analog Output 2
Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD SSV T REAL 0 -100 +100 % Full Scale
The Analog Output 2 attribute is a general purpose analog output 2 level.

Drive Enable Input Checking

Usage Access T Data Type Default Min Max Semantics of Values
Optional - BD MSG T BOOL 1 0 +100 0 = Disabled
1 = Enabled
Boolean value that controls whether or not the drive shall regularly check the state of the Drive Enable input. When Drive Enable Input Checking is enabled, an inactive Drive Enable
input results in a Start Inhibit condition. If the Drive Enable input is deactivated while the drive is enabled, a Drive Enable Input Deactivated exception is generated. If Drive Enable
Input Checking is disabled, the drive shall not check the state of the Drive Enable input.

Hardware Overtravel Input Checking

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D MSG T BOOL 1 0 1 0 = Disabled
1 = Enabled
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.

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Guard Status Attributes The Guard Status attributes are associated with Hardwired safety functionality
associated with 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 without the services of a CIP Safety
network connection, hence the term Hardwired safety as opposed to Networked
Safety. 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

The Guard Status and Guard Fault attributes are defined in the axis to monitor
the behavior of Hardwired Drive Safety functionality. The term Guard is used for
these status attributes to differentiate these attributes from the standard Safety
status attributes associated with Networked Safety functionality that employ a
CIP Safety connection.

See the following publications for more information about what happens when a
Safe Stop occurs and if the operation leads to a Guard Fault. If this safety
operation leads to a Guard Fault, the controller reacts by processing the fault,
disabling the planner.
• Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference
Manual, publication 2094-RM001
• Kinetix 6200 and Kinetix 6500 Safe Torque Off Safety Reference Manual,
publication 2094-RM002
• Kinetix Safe-off Feature Safety Reference Manual,
publication GMC-RM002
• See Additional Resources on page 13 for links to publications about Safety
Controllers.

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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 DINT 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
25…31 = Reserved

Table 71 - 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 cleared only 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, 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.

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Table 71 - Guard Status Bit Descriptions (Continued)

Bit Name Description
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 cleared only by a successful safety reset.
11 Guard Limited Speed Monitor In Indicates if the Safe Speed (SLS/SSM) monitoring function of the safety core is actively checking speed. This bit is set when the
Progress 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 safety core is in progress.
Progress
14 Guard Max Accel Monitor In Indicates if the Safe Max Accel (SMA) monitoring function of the safety core is in progress.
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 Output Indicates the current state of the Safe Door output.
17 Guard Door Control Lock Indicates if the Door Control Output is being commanded to the Locked state.
18 Guard Door Control Output Indicates the current state of the Safe Door Control output.
19 Guard Door Monitor Input Indicates the current state of the Door Monitor (DM) input.
20 Guard Door Monitor In Progress Indicates if the Safe Door Monitoring (DM) function of the safety core is in progress.
21 Guard Lock Monitor Input Indicates the current state of the Safe Lock Monitoring input.
22 Guard Enabling Switch Monitor Indicates the current state of the Safe Enabling Switch Monitor input.
Input
23 Guard Enabling Switch Monitor In Indicates if the Safe Enabling Switch Monitor (ESM) monitoring function of the safety core is in progress.
Progress
24 Guard Reset Input Indicates the state of the Safety Reset input used to initiate the return to normal operational state of the safety core.
25 Guard Reset Required Indicates that the drive’s safety function requires a Safety Reset to permit the return to normal operational state.

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 in the
device 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.

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Guard Faults
Usage Access T Data Type Semantics
Optional - D GSV T DINT 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

Table 72 - 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 include safety
processor faults, inter-processor communication 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 powerup.
5 Guard Feedback 1 Fault An anomaly has been detected with the feedback 1 device.
6 Guard Feedback 2 Fault An anomaly 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.

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Table 72 - Guard Faults Bit Descriptions (Continued)

Bit Name Description
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.
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.
20 Guard Door Monitor Input Fault A fault has been detected on the Door Monitoring input.
21 Guard Door Monitor Fault The Door Monitoring inputs were detected as OFF when they shall 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.
24 Guard Lock Monitor Fault The Lock Monitoring inputs were detected as OFF when the Door will have been locked or
the Lock Monitoring inputs were detected as ON when the Door was opened.
25 Guard Enabling Switch Monitor Input Fault A fault has been detected on the Enabling Switch Monitor (ESM) input.
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 -

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Axis Safety Attributes Table 73 contains the standard safety functions specified for use by Integrated
Motion safety devices, drives, and to interoperate with an external Safety
Controller via a CIP Safety connection. These functions appear also as various
Axis Safety Status bits.

Axis Safety State

Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE GSV T UINT - - - Bitmap
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
8-bit enumeration that indicates the state of the associated Safety Supervisor object of the device. There is only one Safety Supervisor object servicing the CIP Motion device so its
state applies to all applicable Axis instances of the device. This means that all instances of this object will have the same state for this attribute.

Table 73 - Axis Safety State Bit Descriptions

Semantics of Values Safety Supervisor State Description
0 = Undefined/Unknown (No Motion Undefined No motion connection has been opened to the drive. Actual safety state is unknown.
Connection)
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 Connection) Idle The safety function of drive has been initialized, 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 sticky states that are preserved through power cycles.
3 = Self-Test Exception Self-Test Exception The safety function of drive has detected an 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 via power cycle or re-connection.
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.
9…50 = Reserved -

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Table 73 - Axis Safety State Bit Descriptions

Semantics of Values Safety Supervisor State Description
51 = Not configured (Torque Permitted) Waiting for TUNID with Same behavior as Not Configured state with the exception that the drive axis is operational and the
Torque Permitted safety function will permit application of torque to the motor.
52 = Running (Torque Permitted) Executing with Torque Same behavior as Running state with the exception that the drive axis is operational and the safety
Permitted 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 -

Axis Safety Status

Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE 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 Active
6 = Safe Brake Engaged
7 = Safe Stop 1 Active
8 = Safe Stop 2 Active
9 = Safe Operating Stop Active
10 = Safe Stop Standstill
11 = Safe Motor Temperature Active
12 = Safe Motor Overtemperature
13-15 = (reserved)
16 = Safe Speed Monitoring Active
17 = Safe Speed Monitoring Status
18 = Safe Limited Speed Active
19 = Safe Limited Speed Limit
20 = Safe Limited Accel Active
21 = Safe Limited Accel Limit
22 = Safe Limited Direction Active
23 = Safe Limited Direction Limit
24 = Safe Positive Motion
25 = Safe Negative Motion
26-29 = (reserved)
30 = Safety Output Connection Closed
31 = Safety Output Connection Idle
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 (Attribute 40) of the Safety
Stop Functions object associated with this axis instance. The upper 16-bits are the current Safety Limit Status attribute value (Attribute 40) 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 resulting in the axis being Safe Torque
Disabled. The Safety Output Connection Idle bit, when set, indicates that the Safety Output Connection's Run/Idle bit is set to Idle resulting in the axis being Safe Torque Disabled.

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Axis Safety Faults

Usage Access T Data Type Default Min Max Semantics of Values
Optional - DE 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 Fault
5 = Safe Stop 2 Fault
6 = Safe Operating Stop Fault
7 = Safe Brake Fault
8 = Safe Motor Temperature Fault
9…15 = Reserved
16 = Safe Speed Monitor Fault
17 = Safe Limited Speed Fault
18 = Safe Limited Accel Fault
19 = Safe Limited Direction Fault
20…31 = Reserved
The Axis Safety Faults are 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 the corresponding bit is set in the Axis Safety Faults attribute. An active 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 safety fault bits, but the bits
immediately set again if the underlying safety fault condition is still present.
The Axis Safety Faults word 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.

Table 74 - Axis Safety Faults Bit Descriptions

Semantics of Values Description
The Safe State is entered if a fault is detected:
• Data in input assembly (to safety controller) set to designated Safe State.
• Safe Torque Off is activated: Torque is disabled.
• Safe Brake Control is activated: Mechanical brake is engaged.
When set to 0 = No Fault, if it is set to 1= Faulted, a safety function related fault has been detected.
For more information about the Safe Speed Monitoring object and attribute descriptions, see ODVA Volume 5 CIP Safety specification associated with the Safety Stop Functions at,
http://www.odva.org
2 = Safety Feedback Fault The Safety Feedback Fault (SFF) provides position, velocity, and acceleration data used by Safety Stop Functions. When set to 0, the SFF attribute
is operating normally. If it is set to 1, an SSF function related fault has been detected.
3 = Safe Torque Off Fault The Safe Torque Off (STO) function communicates that power can cause rotation (or motion in the case of a linear motor), is not applied to the
motor. The drive does not provide energy to the motor which can generate torque (or force in the case of a linear motor). When set to 0 = No
Fault, the STO attribute is operating normally. If it is set to 1= Faulted, an SBC function related fault has been detected.
4…31 = Reserved -

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Safe Torque Off Action

Usage Access T Data Type Default Min Max Semantics of Values
Optional - D SSV T USINT 0 - - Enumeration
Safety Only 0 = Disabled & Coast
1 = Current Decel & Disable
2 = Ramped Decel & Disable
3 = Current Decel Hold
4 = Ramped Decel Hold
5…127 = Reserved
128…255 = Vendor Specific
128 = DC Injection Brake
129 = AC Injection Brake
When the drive detects a Safe Torque Off (STO) Active condition, as reported by the Axis Safety Status attribute, this value determines the stopping method to apply to the motor.
Each Safe Torque Off Action enumeration initiates one of two defined Stopping Sequences, Category Stop 0, or Category Stop 1.
The final state after the Stopping Sequence is applied is the Start Inhibited state or, in the case of a Safety Fault initiated STO activation, the Major Faulted state. In either final state the
device's inverter power structure is disabled.
When the drive detects a Safe Torque Off (STO) Active condition, as reported by the embedded Safety Core via the Axis Safety Status attribute, this value determines the stopping
method to apply to the motor. Each Safe Torque Off Action enumeration initiates one of two defined Stopping Sequences, Category Stop 0 (0), or Category Stop 1 (1 and 2). The
definition for each enumeration shall follow the same enumerations defined for the Stopping Action attribute. The final state after the Stopping Sequence is applied is the Start
Inhibited state or, in the case of a Safety Fault initiated STO activation, the Major Faulted state. In either final state the device's inverter power structure shall be disabled, ultimately
with safety integrity as enforced by the Safety Core's STO safety function.
For more information on Safe Torque Off Action, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001, the Kinetix 5700 Servo Drives User Manual,
publication 2198-UM002, and the PowerFlex 527 Adjustable Frequency AC Drive User Manual, publication 520-UM002.

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Drive Commissioning Attributes These are the attributes that are associated with auto-tuning and test services
applied to a Motion Control Axis. These attributes are unique to the controller
and do not require replication in the Motion Control Device Axis.

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 Type Default Min Max Semantics of Values
Required - D 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 Type Default Min Max Semantics of Values
Required - D 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 Type Default Min Max Semantics of Values
Required - D 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 Type Default Min Max Semantics of Values
Required - D GSV REAL - - - Amps
IM Only
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 Type Default Min Max Semantics of Values
Required - D 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.

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Motor Test Counter EMF

Usage Access T Data Type Default Min Max Semantics of Values
Required - D 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.

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 Type Default Min Max Semantics of Values
Required - All 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 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 Type Default Min Max Semantics of Values
Required - E 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 is applied to the motor
position accumulator 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 Type Default Min Max Semantics of Values
Required - E 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.

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Hookup Test Feedback 1 Direction

Usage Access T Data Type Default Min Max Semantics of Values
Required - E 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 your definition of forward
direction, can be used to configure the various polarity attributes for the correct directional sense.

Hookup Test Feedback 2 Direction

Usage Access T Data Type Default Min Max Semantics of Values
Required - E 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 your definition of forward
direction, can be used to configure the various polarity attributes for the correct directional sense.

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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 Type Default Min Max Semantics of Values
Required - C GSV INT - - - Enumeration
0 = Tune Successful
1 = Tune in Progress
2 = Tune Aborted by User
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 Type Default Min Max Semantics of Values
Required - C 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.

Tune Deceleration Time

Usage Access T Data Type Default Min Max Semantics of Values
Required - C GSV REAL - - - Seconds
The Tune Deceleration Time attribute returns deceleration time in seconds of the last successful Inertia Test service. These values are used to calculate the Tune Deceleration attribute.

Tune Acceleration
Usage Access T Data Type Default Min Max Semantics of Values
Required - C 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 Type Default Min Max Semantics of Values
Required - C 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.

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Tune Inertia Mass

Usage Access T Data Type Default Min Max Semantics of Values
Required - C 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 MRAT (Motion Run Axis Tune) initiated
tuning process. This value may also be set directly by software tuning tools or programmatically.

Tune Friction
Usage Access T Data Type Default Min Max Semantics of Values
Required - C 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 Type Default Min Max Semantics of Values
Require - C 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 Type Default Min Max Semantics of Values
Require - C 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.

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Hookup Test Configuration Attributes These are the attributes that are associated with hookup test configuration
applied to a Motion Control Axis.

Hookup Test Distance

Usage Access T Data Type Default Min Max Semantics of Values
Required - E SSV(1) REAL 1 0 maxpos Position Units
The Hookup Test Distance attribute is used by the Hookup Test service to determine the amount of motion that is necessary to satisfy a selected hookup test process.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Hookup Test Time

Usage Access T Data Type Default Min Max Semantics of Values
Required - !E SSV(1) REAL 10 0  Seconds
The Test Time attribute is used by the Hookup Test service to determine the duration of motion that is necessary to satisfy a selected Hookup Test process. This value is typically set to
around 10 seconds.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

Hookup Test Feedback Channel

Usage Access T Data Type Default Min Max Semantics of Values
(1)
Required - E SSV USINT 1 1 2 Feedback Channel
1 = Feedback 1
2 = Feedback 2
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.

(1) SSV - These configuration attributes cannot be changed either online or via an SSV instruction if the axis is in the Running state, for example, the Tracking Command bit of CIP Axis Status attribute.

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Inertia Test Configuration Attributes These are the attributes that are associated with inertia test configuration applied
to a Motion Control Axis.

Tuning Select
Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV USINT 0 - - Enumeration
0 = Total Inertia
1 = Motor Inertia
2…255 = Reserved
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 Type Default Min Max Semantics of Values
Required - C SSV USINT 0 - - Enumeration
0 = Unidirectional Forward
1 = Unidirectional Reverse
2 = Bi-Directional Forward
3 = Bi-Directional Reverse
4…255 = Reserved
This enumerated value determines the direction of the motion profile initiated by the Inertia Test service associated with the MRAT instruction.

Tuning Travel Limit

Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV REAL 0 0 - Position Units
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 via 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 Type Default Min Max Semantics of Values
Required - C SSV REAL 0 0  Position Units/Sec
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 Type Default Min Max Semantics of Values
Required - C SSV REAL 100 0  % Rated
The Tuning Torque attribute value determines the maximum torque used by the Inertia Test service initiated motion profile. This attribute is 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.

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Load Ratio
Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV REAL 0 0  Rotary Motor: Load Ratio = (total inertia/motor inertia) - 1.
Linear Motor: Load Ratio = (total mass/motor mass) - 1.
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.
The Load Ratio value may also be used in calculations associated with System Damping attribute.

Total Inertia
Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV REAL FD 0  Inertia Units
(Rotary Motor) .

Total Inertia represents the combined inertia of the rotary motor and load in engineering units.

Total Mass
Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV REAL FD 0  Mass Units
(Linear Motor) .
Total Mass represents the combined mass of the linear motor and load in engineering units.

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Autotune Configuration Attributes These are the attributes that are associated with autotune configuration of a
Motion Control Axis.

System Damping
Usage Access T Data Type Default Min Max Semantics of Values
Required - C 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 * DMTC
Velocity Loop Operation
If the drive is configured for Velocity Loop operation, the following calculation is applied:
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.
See System Bandwidth on page 298 for details on these calculations.
The value for this attribute can also be updated via 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.

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System Bandwidth
Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV REAL 0 0  Loop Bandwidth Units
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 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, Feedforward attributes, Torque Low Pass
Filter Bandwidth according to the Gain Tuning Configuration Bits setting.
Position Loop Operation
If the drive is configured for Position Loop operation, the following calculations apply:
Position Loop Bandwidth = System bandwidth
Position Integer Bandwidth = 0.16/Damping Factor2 * System Bandwidth
Velocity Loop Bandwidth = 4 * Damping Factor2 * System Bandwidth
Velocity Integer Bandwidth = System Bandwidth
Position Error Tolerance = 2 * Max Speed/Position Loop Bandwidth (rad/s)
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 = 0.16/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 that the observer function is enabled, the following calculations are performed:
Load Observer Bandwidth = Velocity Loop BW
Torque Loop Filter Bandwidth = 5 * Velocity Loop Bandwidth
If the Gain Tuning Configuration bit for Tune Torque LP Filter is set, the following calculation is performed:
Torque LP Filter Bandwidth = 5 * Velocity Loop Bandwidth
System Bandwidth Value
The System Bandwidth value can also be updated via 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 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 Type Default Min Max Semantics of Values
Required - PV SSV REAL FD .05 2.0
The Damping Factor attribute value is used in calculating the maximum Position and Velocity Servo Bandwidth values during execution of the MRAT (Motion Run Axis Tune)
instruction.
In general, the Damping Factor attribute controls the dynamic response of the drive axis. When gains are tuned by using a small damping factor (like 0.7), a step response test
performed on the axis would demonstrate under-damped behavior with velocity overshoot. A gain set generated by using a larger damping factor, like 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.

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Position Servo Bandwidth

Usage Access T Data Type Default Min Max Semantics of Values

Required - P 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 the 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 (Motion Run Axis Tune) 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 Type Default Min Max Semantics of Values
Required - PV SSV REAL FD 0  Loop Bandwidth Units
The value for the Velocity Servo Bandwidth represents the unity gain bandwidth of the velocity loop that is to be used by the 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 (Motion Run Axis Tune) instruction. Computing gains based on this maximum value via software 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 Type Default Min Max Semantics of Values
Required - C SSV REAL 0.0015 10-6 1 Seconds
FD
The value for the Drive Model Time Constant represents, 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.
Because 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.

Application Type
Usage Access T Data Type Default Min Max Semantics of Values
Required - PV Logix Designer SINT/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 autotune software to set the Gain Tuning Configuration Bits attribute that establishes
the appropriate gain set application.

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The relationship between Application Type and Gain Tuning Configuration Bits
is described in the tables below.

This 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.
Table 75 - Integrator Bandwidth Values

Application Type Kpi Kvi iHold

Custom - - -
Basic No No No
Tracking No Yes No
Point-Point Yes No Yes
Constant Speed No Yes No

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.
Table 76 - Feedforward Values

Application Type Kvff Kaff

Custom - -
Basic Yes No
Tracking Yes Yes
Point-Point No No
Constant Speed Yes No

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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.
Table 77 - Torque Low Pass Filter

Application Type Torque Low Pass Filter

Custom -
Basic Yes
Tracking Yes
Point-Point Yes
Constant Speed Yes

If Application Type is set to Custom, individual gain calculations can be

controlled directly 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 tables above.

Loop Response
Usage Access T Data Type Default Min Max Semantics of Values
Required - PV Logix Designer USINT 1 - - Enumeration
0 = Low
1 = Medium
2 = High
3…255 = Reserved
The Loop Response attribute is used by configuration and autotune 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 this table.
Table 78 - Applied Damping Factor
Loop Response Damping Factor Description
Low 1.5 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 requires lower
position and velocity loop bandwidths to maintain stability and minimize motor heating.
Medium 1.0 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.
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.

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.

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Load Coupling
Usage Access T Data Type Default Min Max Semantics of Values
Required - C Logix Designer USINT 0 0 0 Enumeration
0 = Rigid
1 = Compliant
2…255 = Reserved
The Load Coupling attribute is used by configuration and autotune 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.

Gain Tuning Configuration Bits

Usage Access T Data Type Default Min Max Semantics of Values
Required - C SSV WORD 1 - - Bit Field
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 Torque Low Pass Filter
9…15 = Reserved
This bit field attribute 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 Run Inertia Test bit determines whether 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
is performed. If the bit is clear, the MRAT will immediately complete without an inertia measurement.
Table 79 - Gain Tuning Configuration Bit Descriptions
Bit Description
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 affect on Total Inertia or System
Bandwidth.
Tune Position Integrator The Tune Position Integrator bit attribute determines whether 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 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 The Tune Velocity Feedforward bit attribute determines whether tuning algorithms calculate a value for the Velocity
Feedforward Feedforward Gain. If this bit is clear (false), the value for the Velocity Feedforward Gain is set to zero.
Tune Acceleration The Tune Acceleration Feedforward bit attribute determines whether tuning algorithms calculate a value for the Acceleration
Feedforward Feedforward Gain. If this bit is clear (false), the value for the Acceleration Feedforward Gain is set to zero. Bits 4…7 may not be
updated programmatically by SSV instruction unless the Application Type is set to Custom.
Tune Torque Low Pass The Tune Torque LP Filter bit attribute determines whether or not tuning algorithms calculate a value for the Torque Low Pass
Filter 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.
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.

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Motion Control Axis Behavior 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
Model indicated by the CIP Axis State attribute. State transitions can be initiated either
directly via the Axis Control request mechanism or by conditions that occur in
either the controller or motion device during operation. Figure 29 shows the
basic operating states of the Motion Control Axis when actively controlling axis
motion (Control Mode != No Control). 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.

Figure 29 - Motion Control Axis Behavior Mode (Active Control)

* Specific Standby State after a Fault Reset is determined by applying Fault Reset
State Transition Precedence rules defined at the end of this section.

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The following table defines the valid transitions for the Axis State Model.

Table 80 - Axis State Model Valid Transitions (Active Control)

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
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
Start Inhibited Inhibits Cleared Stopped

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Table 80 - Axis State Model Valid Transitions (Active Control) (Continued)

Current State Event Conditions Next State
Major Faulted Fault Reset SD = 1 Shutdown
Major Faulted Fault Reset SD = 0, BU = 0 Pre-Charge
Major Faulted Fault Reset SD = 0, BU = 1, SI > 0 Start Inhibited
Major Faulted Fault Reset SD = 0, BU = 1, SI = 0 Stopped
Major Faulted Reconnection Initializing
Stopped !Bus Up Pre-Charge
Stopped Shutdown Shutdown
Stopped Major Fault Major Faulted
Stopped Start Inhibit Start Inhibit
Stopped Enable Starting
Stopped Test (Active) Starting
Starting Shutdown Shutdown
Starting Major Fault Aborting
Starting Disable Stopping
Starting Start Complete IP = 0 Running
Starting Start Complete IP = 1 Testing
Stopping Stop Complete SD = 0 Stopped
Stopping Stop Complete SD = 1 Shutdown
Stopping Major Fault Aborting
Stopping Enable Flying Start Enabled Starting
Aborting Stop Complete Major Faulted
Aborting Fault Reset Stopping
Testing Shutdown Stopping
Testing Major Fault Aborting
Testing Disable Stopping
Running Shutdown Stopping
Running Major Fault Aborting
Running Disable Stopping
Any State Connection Close Initializing
Any State Connection Loss Major Faulted

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Some of the above axis state machine transitions have dependencies on the
current status conditions of the axis defined in the table below.

Table 81 - Axis State Machine Conditions

Condition Symbol Description
Bus Up BU This Axis Status bit is set if the DC bus is charged within the operating range.
Shutdown SD This Axis Status bit is set if there is an active shutdown. This is different than the
shutdown state. The Shutdown status bit can be active in the faulted state.
In Process IP This Axis Status bit indicates a test process associated with service request is
active. Note that the In Process bit may be active without the axis state machine
being in the testing state.
Start Inhibit SI This represents the set of active Start Inhibits. An SI value of 0 indicates no active
Start Inhibits. Note that start inhibits can be present without the axis state
machine being in the start inhibit state.

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When the Motion Control Axis is not actively controlling axis motion (Control
Mode = No Control), the state diagram above reduces to the following for a
Feedback Only axis or CIP Motion Encoder device type.

Figure 30 - Motion Control Axis Object State Model (Feedback Only)

* Specific Standby State after a Fault Reset is determined by applying Fault Reset
State Transition Precedence rules defined at the end of this section.

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This table defines the valid transitions for the Axis State Model of a Feedback
Only axis or CIP Motion Encoder.

Table 82 - Axis State Transitions (Feedback Only)

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 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 SD = 1 Shutdown
Major Faulted Fault Reset SD = 0, SI > 0 Start Inhibited
Major Faulted Fault Reset SD = 0, SI = 0 Running
Major Faulted Reconnection Initializing
Running Shutdown Shutdown
Running Major Fault Major Faulted
Any State Connection Close Initializing
Any State Connection Loss Major Faulted

When the Motion Device Axis Object is associated with a CIP Motion
Converter, the Active Control state diagram reduces to the following.

Figure 31 - Motion Device Axis Object State Model (Converter)

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* Specific Standby State after a Fault Reset is determined by applying Fault Reset
State Transition Precedence rules defined at the end of this section.

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Valid transitions for the Axis State Model of a CIP Motion Converter axis are
explicitly defined in the following table.

Table 83 - Axis State Transitions (Converter)

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 Start Inhibited
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 Fault
Pre-Charge Bus Up Running
Major Faulted Fault Reset SD = 1 Shutdown
Major Faulted Fault Reset SD = 0 Pre-Charge
Major Faulted Reconnection Initializing
Running !Bus Up Pre-Charge
Running Shutdown Shutdown
Running Major Fault Major Faulted
Any State Connection Close Initializing
Any State Connection Loss Major Faulted

Fault Reset State Transition Precedence

The State Diagrams above are in a 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 depends on other state/status conditions of the axis.

In fact, it may be possible for more than one state condition to be present at the
same time, for example, Shutdown, Start Inhibited, and so forth. Because the axis
state model can represent only 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

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State Behavior These are the descriptions of each of the states and state transitions of the Motion
Control Axis state model.

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 anomaly 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 Identity Object. Clearing this fault can only be
accomplished through a power cycle and is most likely the result of a device
hardware anomaly.

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 via the CIP Motion
connection.

If the CIP Motion device supports standalone 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. If the device receives a
subsequent Forward Open service to open a CIP Motion connection, the device
disables all axes and transition back to the Initializing state, following the state
sequence outlined below.

If the device does not support standalone operation and depends on remote
configuration data to be supplied over a CIP Motion connection, the device
transitions to the Initializing state and wait (Standby) for the Forward Open
service from the controller to open the CIP Motion Connection.

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Initializing State

From the controller's perspective the Initializing state shown in the above 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, shall 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 via a Forward Open service. During
this time the CIP Axis State is Unconnected. Once the Forward Open service is
successfully processed, the device initializes all attributes to their factory default
values, resets all active faults, and 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. During this time the CIP Axis State is unconnected. Any
configuration error encountered during this process, for example, due to value
out of range or value not applicable, are handled by the device 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 shall 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 shall 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.

If the device supports synchronous operation, the controller then synchronizes

the device by 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.

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The CIP Axis States of Unconnected, Configuring, Synchronizing, and Waiting

for Group are defined in more detail in the sections that follow.

If an anomaly 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 so
clearing the fault can be accomplished only through a power cycle or a device
reset service to the associated Identity Object.

If the CIP Motion connection is intentionally closed for any reason during
operation via a Forward Close service, the device clears all active faults and alarms
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 waits for the CIP Motion
connections to the device to be re-established by the controller via a Forward
Open service. The controller's CIP Axis State shall transition through the various
Initialization sub-states as described above.

The Initializing State is classified as an Identity Object Standby state and,

therefore, the device ensures that all associated power structures are disabled.

Pre-charge State

In 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 to the Running state (converter axis). The
drive device’s inverter power structure is always disabled in this state (Power
Structure Enabled status bit clear). Any attempt for the controller to enable a
drive device via 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 inverter power structure, if applicable, is
disabled.

Stopped State

In the Stopped state, the device’s inverter power structure will either be disabled
and free of torque (Power Structure Enabled status bit clear) or held in a static
condition via an active control loop (Power Structure Enabled status bit set). No
motion can be initiated by the device in the Stopped State nor can the device
respond to a planner generated command reference (Tracking Command status
bit clear). In general, the 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. 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

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or one of the Run Test service requests is applied to an axis in the Stopped state,
the motion 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 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 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 Motion Planner (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) and the selected
Control Mode is enabled and actively tracking command data from the controller
based Motion Planner output to affect axis motion (Tracking Command status
bit set). The motion axis remains in the Running state until either a fault occurs
or it is explicitly commanded to stop via a Axis Control request.

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 s are both clear). The motion 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 motion 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). 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, not command data from a Motion Planner (Tracking
Command status bit clear). In the Testing state, the device excites the motor in
various ways while performing measurements to determine characteristics of the
motor and load. The motion axis remains in this state for the duration of the
requested test procedure and then returns to the Stopped state via the Stopping

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state. The motion axis can also exit the Testing state by either a fault or an explicit
Axis Control request. In all these exit cases, the drive device shall execute 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 attribute. Once corrected, the axis state automatically transitions back to
the Stopped state.

For an axis with no active control function (Control Mode = No Control), the
Start Inhibited axis state prevents transition to the Running state based until
specific Start Inhibit conditions are resolved, such as when the associated device
is not fully configured for operation. Again, once these conditions are 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.

Stopping State
When a Disable Request or Shutdown Request is issued to the Motion Device
Axis Object in the Starting, Running, or 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 data from the Motion Planner (Tracking
Command status bit clear) A Disable Request executes the configured Stopping
Actions while a Shutdown Requests executes the configured Shutdown Action.
There are many different Stopping Actions supported by the Motion Device Axis
Object. 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 waits until the axis has reached zero speed,
or a timeout occurs (see Stopping Time Limit and Coasting Time Limit on page
219), 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, or in the case of a Frequency Control drive device,

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the criteria are based on Velocity Reference rather than Velocity Feedback.
Ultimately, zero speed criteria are left to the vendor's discretion.
When an Enable Request is given to an axis in the Stopping state with Flying
Start Enabled, the axis shall immediately transition to the Starting state.
See Stopping Sequences on page 221 for detailed information.

Aborting State
When a Major Fault occurs in the motion device while the axis is in either the
Starting, Running, Testing, or Stopping state, the motion axis immediately
transitions to the Aborting state. In this state, the axis is in the process of stopping
and is no longer tracking command data from the Motion Planner (Tracking
Command status bit clear).
The Aborting state executes the appropriate stopping action based on the specific
fault condition as specified by the device vendor. When actively stopping the 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 (Category
Stop 1 and 2). In some cases, the power structure must be immediately disabled so
the axis may coast to a stop while in the Aborting state (Category 0 Stop).
In any case, the drive waits until the axis has reached zero speed, or a timeout
occurs, before transitioning to the Major Faulted 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, Velocity
Reference is used rather than Velocity Feedback. Ultimately the zero speed
criteria are left to the vendor's discretion. See section on Stopping Sequences for
details.
When fault 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 via an Axis
Control state change request or Motion Planner stop, or indirectly via 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 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

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condition present. The Motion Device Axis Object also defines a Minor Fault as
a fault that allows device operation to continue and does not affect 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 devices results 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 via an Axis Control state change request or Motion Planner
stop, or indirectly via 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.

Because 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. This table provides source descriptions of
faults.

Table 84 - Fault Type Source

Fault Type Source
CIP Initialization These faults can occur only during the Initializing state. You cannot generate an Initialization fault in any other state of the device, for example, faults
occurring during operation of the device after transitioning out of the Initializing state.
Initialization Faults can apply to a specific axis or to the entire device, 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 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, are 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 Axis Safety Faults also apply to specific axis instances. Safety Faults are reported by the embedded Safety Core of the device that 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 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. This component of the drive is designed to monitor various critical safety functions of the drive and put the axis in a safe state should any
monitored condition fail to operate nominally.
Motion These faults are generally associated with fault conditions generated by the Motion Planner function. These faults can include conditions related to the
input (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.

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Table 84 - Fault Type Source (Continued)

Fault Type Source
Module 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; these faults are primarily communication faults, but can include general hardware faults
where these fault conditions are checked during run-time.
A CPU watchdog fault is 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 is the Control Sync Fault. The device power structure, if applicable, is disabled
when there is a Module Fault present.
Group 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 the controller and are generally associated with the time synchronization function that is
common to all axes in the motion group. The devices power structure, if applicable, is disabled when there is a Group Fault present.
Configuration A configuration fault is generated any time 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 (or a Shutdown fault action initiated by a Major

Fault condition) is issued to the device, the targeted axis transitions to the
Stopping (or Aborting) state. Once the Stopping (or Aborting) state completes,
the axis transitions to the Shutdown (or Major Faulted) state.

The Shutdown state has the same basic characteristics of the Stopped state except
that the device's inverter power structure shall be disabled and free of torque
(Power Structure Enabled status bit clear) and, depending on the selected
Shutdown Action, DC Bus power to the device’s power structure shall be
dropped (DC Bus Up status bit clear).

This is generally done by opening an AC Contactor Enable output, if applicable,

provided by the device 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 motion axis transitions through the Pre-charge state to
the Stopped state. The Shutdown state offers an extra level of protection against
unexpected motion.

In the case where a Shutdown fault action is initiated by the device in response to
a Major Fault condition, 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.

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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 applicable even to a Feedback Only axis where the axis instance
is simply associated with a feedback device that has no active control function.

The Shutdown State is classified as an Identity Object Standby state and,

therefore, requires that the associated device power structure, if applicable, is
disabled.

No Device State

If the CIP Motion axis instance in the controller is created, but not currently
associated with a CIP Motion device, the axis state indicates the No Device state.
A CIP Motion axis is 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 is created and not associated with a Motion Group, the axis
state is set to the Not Grouped state. A CIP Motion axis is assigned to a Motion
Group for the axis 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 for any reason, the associated 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 is
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 must be initiated by you to transition to the Initializing
state and restore axis function.

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Configuration State

Once a CIP Motion I/O connection has been made to the device, the controller
begins to send configuration data via the connection's service channel. At this
time the axis state transitions from Unconnected to Configuring. The axis state
shall 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 shall 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 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 shall 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.

Fault and Alarm Behavior The Motion Device Axis Object’s 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 motion axis in real-time, without cumbersome polling.

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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 fault, which could be a regular runtime CIP Axis Fault, or Safety Fault, or an
Initialization Fault.

The CIP Axis Fault Code and related attributes in the Motion Device Axis are
used to report the specific fault condition, time stamp, and fault action to the
controller for the purposes of building a fault log. Before we go into detail on this,
we will first carefully define the terms used to describe the Fault and Alarm
functionality of the Motion Device Axis Object.

Exceptions
Exceptions are runtime conditions that the device continually checks that might
indicate improper behavior of the motion 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.

Exception Actions

For each exception, the motion axis can be programmed a variety of actions via
the Exception Action attribute. Exception Actions range from generating a major
fault that results in the stopping of the motion axis all the way to taking no action
at all. 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.

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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, that is
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 motion 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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CIP Data Types This table provides descriptions of the CIP Data Type related to the CIP Motion
Control Axis.

Table 85 - CIP Data Type Descriptions

Data Type Data Type Code (in Description Range
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

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CIP Error Codes These are the general ASA error codes.

Table 86 - CIP Error Codes Descriptions

Error Code (hex) Error Name Description of Error
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 is supplied in the object specific status field of the response.
03 Invalid value in object specific data parameter of a A portion of the data supplied as an object specific data parameter of a service was invalid. The
service request. 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 is 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 is 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 connection 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 reports 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 reports
the object’s current status.
0C Object can not perform service in its current The object cannot perform the requested service in its current mode/state. The object specific status
mode/state. reports 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, because the Update Service is
required before data can be sent via the Transfer Service.
0D Object already exists. The requested instance of the object to be created already exists.
0E Attribute value not settable. The object attribute is not a settable attribute. The object specific status reports the number of the
attribute refusing data.
0F Access permission does not allow service. The access permissions do not allow the object to perform the service. The access permissions available to
the object is reported in the extended status.
10 Device’s mode/state does not allow object to The device containing the object does not allow the object to perform the service in the device’s current
perform service. mode/state. The object specific status reports 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, have 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.

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Table 86 - CIP Error Codes Descriptions (Continued)

Error Code (hex) Error Name Description of Error
17 Service fragmentation sequence not currently in The fragmentation sequence for this service is not currently active for this data.
progress.
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 large for The service request packet was too large for transmission on a network in the path to the destination. The
network. bridge device was forced to abort the service.
1B Bridging failure, response packet too large for The service response packet was too large for transmission on a network in the path from the destination.
network. 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.
21 Write–once value or medium already written. An attempt was made to write to a write-once medium (for example, WORM drive or 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 that 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 that 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 the DeviceNet specification for details, http://www.odva.org.
29 DNet Member not settable. See the DeviceNet specification for details, http://www.odva.org.
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.

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Notes:

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 Appendix A

Module Configuration Attributes

These are the Module Configuration attributes associated with components that
are common to all axis instances of a multi-axis integrated motion device or
module. The common device components are, for example, an Integral
Converter, Bus Regulator, Common Power Supply, Feedback Cards, and
Network Interface.

Topic Page
Module Configuration Block Attributes 327
Module Class Attributes 328
Module Axis Attributes 329
Module Feedback Port Attributes 336
Module Timing Attributes 337
Module Support Attributes 338
Module Class Attributes 328

Module Configuration attributes are included in the CIP Motion Control Axis
Object implementation and may be included as part of a vendor specific device
interface. The Need in Implementation Rules apply for either case.

There are six general categories of module configuration attributes that are
defined in the following sections.

Attribute Description
Module Configuration Block Attributes Configure elements of the Configuration Block sent in the CIP Motion
Forward_Open.
Module Class Attributes Configure Motion Device Axis Object class attributes associated with the
device.
Module Axis Attributes Configure Motion Device Axis Object axis attributes that apply to a
common device component.
Module Feedback Port Attributes Configure the mapping of feedback ports to feedback channels for each
axis instance.
Module Timing Attributes Configure various time related aspects of the integrated motion device.
Module Support Attributes Determine the size and content of the configuration data needed by the
integrated motion device.

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Module Configuration Block 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
Attributes service.

Configuration Bits
Usage Access Data Type Default Min Max Semantics of Values
Required - All BYTE 0 - - Bitmap:
Bit 0 = Verify Power Structure (O/D)
Bits 1…7 = (Reserved)
Collection of bits used for configuration of an associated integrated motion device. Verify Power Structure is used to control whether the drive performs an extended key check against
its Drive Class ID.

Drive Power Structure Class ID

Usage Access Data Type Default Min Max Semantics of Values
Required -D DINT 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.

Module Class Attributes The Module Class Attributes are stored in the controller and used to configure
Motion Device Axis Object Class attributes associated with the integrated
motion device. These attributes generally apply to the integrated motion
connection behavior. If these Module Class attributes are included in the CIP
Motion Control Axis Object implementation, the attributes are the same for all
axis instances associated with the module. In such an implementation, the
controller applies only 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 Data Type Default Min Max Semantics of Values
Optional Logix Designer SINT 4 1 10 # of Controller Update Periods
Represents 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 Data Type Default Min Max Semantics of Values
Optional Logix Designer SINT 2 1 10 # of Controller Update Periods
Represents 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.

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Sync Threshold
Usage Access Data Type Default Min Max Semantics of Values
99
Optional Logix Designer DINT 10000 1 10 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.

Module Axis Attributes The Module Axis attributes are used to configure common components of a
integrated motion device, for example, Bus Converter or Bus Regulator 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.

For more information about using a MSG instruction to access an attribute, see
Access with a MSG (a message) Instruction on page 52.

Drive Power Structure Axis ID

Usage Access Data Type Default Min Max Semantics of Values
Optional - D Logix Designer DINT[8] []=0 - - Array of power structure IDs used to verify if the user
selected power structure for each axis instance of a multiaxis
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 multiaxis drive. By contrast, if power structure hardware that is the same for all axis instances of the drive (excluding master
feedback axes) the power structure can be identified by using the Drive Power Structure Class ID attribute. For multiaxis 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…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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Bus Configuration
Usage Access Data Type Default Min Max Semantics of Values
Optional - BD SSV USINT 0 - - Enumeration
0 = Standalone
1 = Shared AC/DC
2 = Shared DC
3 = Shared DC - Non CIP Converter
4…255 = Reserved
Standalone indicates that DC Bus power supplied by the drive's converter section is applied only to this drive's power structure.
Shared AC/DC indicates 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 derating of the
continuous current rating for the Shared AC/DC drive.
Shared DC indicates that this drive is sharing DC bus power generated by an external CIP Motion Converter.
Shared DC - Non CIP Converter indicates 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 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.

Bus Voltage Select

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV 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;
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.

Bus Regulator Action

Usage Access Data Type Default Min Max Semantics of Values
Optional -BD SSV USINT[8] [] = 1 - - Enumeration
0 = Disabled (O/IM)
1 = Shunt Regulator (O)
2…127 = (reserved)
128…255 = (vendor specific)
128 = Adjustable Frequency (O/IM)
129 = Shunt Then Adjustable Frequency (O/IM)
130 = Adjustable Frequency Then Shunt (O/IM)
131 = Bus Follower (O)
This 8-element array controls the method of operation of the DC Bus Regulator. The attribute addresses the regenerative over-voltage conditions that can occur when decelerating a
motor associated with a given axis instance. 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 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.
Note that each drive instance in a multiaxis drive module can have an independently configured Bus Regulator Action. The indexed elements of this array correspond to axis instances
1…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.

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Regenerative Power Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D SSV 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. When
using an external shunt resistor, set this value to its maximum value. Since this is regenerative power, the value of the limit is negative.
Note that each drive instance in a multiaxis drive module can have an independently configured Regenerative Power Limit. The indexed elements of this array correspond to axis
instances 1…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 Data Type Default Min Max Semantics of Values
Optional - BD SSV USINT 0 - - Enumeration:
0 = Internal
1 = External
2…255 = Reserved
Defines whether Internal or External Shunt resistor is used.

External Shunt Regulator ID

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD SSV INT 519 -1 32767 1 = None
0 = Custom
1…32767 = Shunt Regulator ID
Rockwell Automation specific identifier for the External Shunt Regulator. A value of 0 indicates use of a custom shunt regulator that requires user configuration.

External Shunt Power

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD SSV REAL 0.20 0  Kilowatts
Rockwell Automation specific identifier for the External Shunt Regulator. A value of 0 indicates use of a custom shunt regulator that requires user configuration.

External Shunt Pulse Power

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD SSV 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. `Shunt Pulse Power’
(Kilowatts) = 75,000 * lbs, where lbs is the weight of the resistor wire element, not weight of 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 Data Type Default Min Max Semantics of Values
Optional - BD SSV REAL 0 0  μF
Microfarads
This attribute represents the external DC Bus capacitance when the associated drive is acting as a Common Bus Leader, supplying DC Bus power to one or more Common Bus Followers.
This attribute is not applicable when the Bus Regulator Action is set to Common Bus Follower. 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 Data Type Default Min Max Semantics of Values
Optional - BD SSV REAL 0 0  Ohms
This attribute represents the resistance of the External Shunt Regulator resistor.

Bus Sharing Group

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer 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 attribute represents the resistance of the External Shunt Regulator resistor.
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, unaffected.
• 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.

TIP If your program has axes configured as 'slaves' without configuring another axis as a 'master' within that Bus
Sharing Group, a validation error occurs during download, for example, aborts download. Be sure to configure at
least one master. By default, all axes are assigned to the same Bus Sharing Group (if not stand-alone) so by default
this check is met by configuring at least one master.
If you are using Bus Sharing and get a Bus Sharing fault, use Group Shut Down Reset, if possible. If you can’t use the
Group Shut Down Reset, you will need to do the resets at the axis level. Reset the master first and then reset the
slaves.

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Duty Select
Usage Access Data Type Default Min Max Semantics of Values
Optional - D Logix Designer 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 value 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. 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 configured are set to 0.
• Normal Duty provides highest 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. 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 Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer USINT 0 - - Enumeration
0 = Three-Phase (R)
1 = Single-Phase (O)
Indicates whether the Converter input power to AC line is Single-Phase or Three-Phase.

Converter AC Input Voltage

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer UNIT 230 0  Volts (RMS)
This value configures the drive for the intended AC line voltage applied to the Converter.

Demonstration Mode Select

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer USNIT 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, 50/60 Hz, 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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Appendix A Module Configuration Attributes

Converter Overtemperature User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 0 0  °C
Sets User Limit for the Converter Overtemperature UL exception.

Converter Thermal Overload User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 100 0  % Converter Rated
Sets User Limit for the Converter Thermal Overload UL exception.

Converter Ground Current User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 100 0  % Factory Limit
Sets User Limit for the Converter Ground Current UL exception.

Bus Regulator Overtemperature User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 0 0  °C
Sets User Limit for the Converter Ground Current UL exception.

Bus Regulator Thermal Overload User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 100 0  % Regulator Rated
Sets User Limit for the Bus Regulator Thermal UL exception.

Bus Overvoltage User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 140 0  % Nominal Bus Voltage
Sets User Limit for the Bus Overvoltage UL exception. Unlike the corresponding Factory Limit, which is specified in Volts, the User Limit is based on percent of Nominal Bus Voltage
during operation.

Bus Undervoltage User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - D Logix Designer REAL 0 0 100 % Nominal Bus Voltage
Sets User Limit for the Bus Undervoltage UL exception. Unlike the corresponding Factory Limit, which is specified in Volts, the User Limit is based on percent of Nominal Bus Voltage
during operation.

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 Module Configuration Attributes Appendix A

Control Module Overtemperature User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - All Logix Designer REAL 0 0  °C
Sets User Limit for the Bus Undervoltage UL exception. Unlike the corresponding Factory Limit, which is specified in Volts, the User Limit is based on percent of Nominal Bus Voltage
during operation.

Converter Pre-charge Overload User Limit

Usage Access Data Type Default Min Max Semantics of Values
Optional - BD Logix Designer REAL 100 0  % Converter Rated
Sets User Limit for the Converter Pre-Charge Overload UL exception.

Digital Input Configuration

Usage Access Data Type Default Min Max Semantics of Values
Optional - All Logix Designer USINT [8] []=0 - - Input Configuration
Enumeration
0 = Unassigned
1 = Enable
2 = Home
3 = Registration 1
4 = Registration 2
5 = Positive Overtravel
6 = Negative Overtravel
7 = Regeneration OK
8 = Bus Capacitor OK
9 = Shunt Thermal Switch OK
10 =Home & Registration 1
11 = Motor Thermostat OK
12 = Pre-Charge OK
13…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]]
A two-dimensional array of enumerated values that map configurable digital inputs to specific functions for each drive axis. Each of the 8 possible axis instances can 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 shall be 0.
Functions that are not mapped to a digital input are not checked by the drive, nor generate associated exceptions or events. Associated exception actions in this case are accepted by
the device as a `Don't Care’.

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Appendix A Module Configuration Attributes

Module Feedback Port The 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 Data Type Default Min Max Semantics of Values
Optional - E Logix Designer 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…8 and feedback channels 1…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.

Feedback Card Type

Usage Access Data Type Default Min Max Semantics of Values
Optional - E Logix Designer INT[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.

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 Module Configuration Attributes Appendix A

Module Timing Attributes The following attributes configure various time related aspects of an integrated
motion device.

Time Sync Support

Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix Designer USINT 2 - - Enumeration
FW 0 = No sync support
1 = Low quality
2 = High quality
3…255 = Reserved
Enumeration that reflects the synchronization capability of the device.
Note: This is for firmware use only and does not go to the drive.
• 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 to no better than 10 usec. Fine interpolation is not recommended for this time sync implementation. Low Quality time stamp accuracy synchronization
is sufficient for Fault and Alarm event logging.
• High Quality
This enumeration indicates that the device implements has a high quality implementation of CIP Sync time synchronization in hardware protocol resulting in very accurate time
stamping, for example, time stamping accuracy better than 10 usec, High Quality time synchronization is appropriate for fine interpolation and registration functionality.

Time Diagnostics
Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix Designer 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 Data Type Default Min Max Semantics of Values
Required - D Logix Designer INT - - Microseconds
Used to determine setting of Interpolation Control when in position loop mode.

Velocity Loop Device Update Period

Usage Access Data Type Default Min Max Semantics of Values
Required - D Logix Designer INT - - Microseconds
Used to determine setting of Interpolation Control when in velocity loop mode.

Torque Loop Device Update Period

Usage Access Data Type Default Min Max Semantics of Values
Required - D Logix Designer INT - - Microseconds
Used to determine setting of Interpolation Control when in torque loop mode.

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Appendix A Module Configuration Attributes

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 are
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 Data Type Default Min Max Semantics of Values
Required - All Logix Designer 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. This is for anticipated future use by SW and for
now it is set to the max # of axes supported.

Inverter Support
Usage Access Data Type Default Min Max Semantics of Values
Required - All Logix Designer 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
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, for example, PWM Frequency and Duty Select.

Number of Configurable Inputs

Usage Access Data Type Default Min Max Semantics of Values
Optional - All Logix Designer USINT[8] []=0 0 8 # of inputs
FW – but only needed if 4 [ Axis 1 Inputs,
Digital Input Axis 2 Inputs,
Configuration is Axis 3 Inputs,
supported
Axis 4 Inputs,
Axis 5 Inputs,
Axis 6 Inputs,
Axis 7 Inputs,
Axis 8 Inputs]
FW only parameter (does not go to the device) but controls how much of the Digital Input Configuration array is sent to the device for a given axis instance. 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…8. Array elements that
are not applicable or configured are set to 0.

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 Module Configuration Attributes Appendix A

Source of Configurable Inputs

Usage Access Data Type Default Min Max Semantics of Values
Optional - All Logix Designer USINT[8] []=0 0 8 Axis Instance
FW – but only needed if [ Axis 1 Inputs,
Digital Input Axis 2 Inputs,
Configuration is Axis 3 Inputs,
supported
Axis 4 Inputs,
Axis 5 Inputs,
Axis 6 Inputs,
Axis 7 Inputs,
Axis 8 Inputs]
FW 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. 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…8.
Array elements that are not applicable or configured are set to 0.

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Appendix A Module Configuration Attributes

Notes:

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 Appendix B
Attribute Conversion from SERCOS to Integrated
Motion on the Ethernet/IP Network
Table 87 illustrates the methods used to convert the RSLogix 5000® software
L5K file from a project using an existing Allen-Bradley® SERCOS drive to a
comparable IM-compliant drive.

Table 87 - Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
AccelerationDataScaling 2 N/A
AccelerationDataScalingExp 0 N/A
AccelerationDataScalingFactor 1 N/A
AccelerationFeedforwardGain 0 AccelerationFeedforwardGain Direct
AccelerationLimitBipolar 33000.266 N/A
AccelerationLimitNegative -33000.266 DecelerationLimit Direct
AccelerationLimitPositive 33000.266 AccelerationLimit Direct
AmplifierCatalogNumber `2094-AC05-M01’ Module Configuration
AuxFeedbackRatio 1 FeedbackUnitRatio 1/x
AuxFeedbackResolution 4000 Feedback2CycleResolution Direct
AuxFeedbackType `<NA>’ Feedback2Type Enum Mapping
AuxFeedbackUnit Rev Feedback2Unit Enum Mapping
AverageVelocityTimebase 0.25 AverageVelocityTimebase Direct
AxisInfoSelect1 <none> CyclicReadUpdateList Enum to Attr ID Element 0
AxisInfoSelect2 <none> CyclicReadUpdateList Enum to Attr ID Element 1
AxisType Servo AxisConfiguration Enum Mapping
FeedbackConfiguration
BacklashReversalOffset 0 BacklashReversalOffset Direct
BacklashStabilizationWindow 0 BacklashStabilizationWindow Direct
BrakeEngageDelayTime 0 BrakeEngageDelayTime Direct
BrakeReleaseDelayTime 0 BrakeReleaseDelayTime Direct
BusRegulatorID `<none>’ Module Configuration
ContinuousTorqueLimit 100 MotorOverloadLimit Direct
ConversionConstant 200000 ConversionConstant Direct
DampingFactor 0.8 DampingFactor Direct
DriveEnableInputFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
DriveModelTimeConstant 2.89E-04 DriveModelTimeConstant Direct
DrivePolarity Positive MotionPolarity Enum Mapping
DriveThermalFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
DriveUnit Motor Rev MotionUnit Direct

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Appendix B Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network

Table 87 - Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
DynamicsConfigurationBits 7 DynamicsConfigurationBits Direct
FaultConfigurationBits 32 ExceptionAction Enum Mapping
FeedbackFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
FeedbackNoiseFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
FrictionCompensation 0 FrictionCompensation Direct
FrictionCompensationWindow 0 FrictionCompensationWindow Direct
HardOvertravelFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
HomeConfigurationBits 16#0000_0000 HomeConfigurationBits Direct
HomeDirection Bi-directional Forward HomeDirection Direct
HomeMode Active HomeMode Direct
HomeOffset 0 HomeOffset Direct
HomePosition 0 HomePosition Direct
HomeReturnSpeed 0 HomeReturnSpeed Direct
HomeSequence Immediate HomeSequence Direct
HomeSpeed 0 HomeSpeed Direct
HomeTorqueLevel 0 HomeTorqueLevel Direct
InputPowerPhase Three-Phase Module Configuration
IntegratorHoldEnable Enabled PositionIntegratorControl Bit 0 Mapping
VelocityIntegratorControl
LoadInertiaRatio 0 LoadInertiaRatio Direct
MasterInputConfigurationBits 1 MasterInputConfigurationBits Direct
MasterPositionFilterBandwidth 0.1 MasterPositionFilterBandwidth Direct
MaximumAcceleration 14025.113 MaximumAcceleration Direct
MaximumAccelerationJerk 2776994.8 MaximumAccelerationJerk Direct
MaximumDeceleration 14025.113 MaximumDeceleration Direct
MaximumDecelerationJerk 2776994.8 MaximumDecelerationJerk Direct
MaximumNegativeTravel 0 MaximumNegativeTravel Direct
MaximumPositiveTravel 0 MaximumPositiveTravel Direct
MaximumSpeed 70.833336 MaximumSpeed Direct
MotionGroup `MyGroup’ MotionGroup Direct
MotionModule `SercosDrive:Ch13’ MotionModule Direct
MotorCatalogNumber `MPL-A310P-M’ MotorCatalogNumber Direct
MotorFeedbackResolution 1024 Feedback1CycleResolution Direct
MotorFeedbackType `SRM’ Feedback1Type Enum Mapping
MotorFeedbackUnit Rev Feedback1Unit Enum Mapping
MotorThermalFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
OutputCamExecutionTargets 0 OutputCamExecutionTargets Direct
OutputLPFilterBandwidth 0 TorqueLPFilterBandwidth Direct

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 Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network Appendix B

Table 87 - Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
OutputNotchFilterFrequency 0 TorqueNotchFilterFrequecy Freq Unit Scaling
PhaseLossFaultAction Shutdown CIPAxisExceptionAction Enum Mapping
PositionDataScaling 10 N/A
PositionDataScalingExp 0 N/A
PositionDataScalingFactor 1 N/A
PositionErrorFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
PositionErrorTolerance 0.3155627 PositionErrorTolerance Direct
PositionIntegralGain 0 PositionIntegratorBandwidth 1/2π * 1000/Kpp
PositionLockTolerance 0.01 PositionLockTolerance Direct
PositionProportionalGain 528.1571 PositionLoopBandwidth 1/2π
PositionServoBandwidth 84.058815 N/A
PositionUnits Position Units PositionUnits Direct
PositionUnwind 200000 PositionUnwind Direct
PowerSupplyID `2094-AC05-M01’ Module Configuration
ProgrammedStopMode Fast Stop ProgrammedStopMode Direct
PWMFrequencySelect High Frequency N/A
ResistiveBrakeContactDelay 0 ResistiveBrakeContactDelay Direct
RotaryAxis Linear RotaryAxis Direct
RotationalPosResolution 200000 MotionResolution Direct
ServoLoopConfiguration Position Servo AxisConfiguration Enum Mapping
FeedbackConfiguration
SoftOvertravelFaultAction Disable Drive MotionExceptionAction Enum Mapping
StoppingTimeLimit 10 StoppingTimeLimit Direct
StoppingTorque 288.62973 StoppingTorque Direct
TestIncrement 0 TestIncrement Direct
TorqueDataScaling 0 N/A
TorqueDataScalingExp 0 N/A
TorqueDataScalingFactor 1 N/A
TorqueLimitBipolar 288.62973 N/A
TorqueLimitNegative -288.62973 TorqueLimitNegative Direct
TorqueLimitPositive 288.62973 TorqueLimitPositive Direct
TorqueLimitSource Not Limited TorqueLimitSource Direct
TorqueOffset 0 TorqueOffset Direct
TorqueScaling 0.01749257 SystemInertia Conversion Const/Drive Res
TorqueThreshold 0 TorqueThreshold Direct
TuningConfigurationBits 16#0000_0000 TuningConfigurationBits Direct
TuningSpeed 0 TuningSpeed Direct
TuningTorque 100 TuningTorque Direct

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Appendix B Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network

Table 87 - Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP Network
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
TuningTravelLimit 0 TuningTravelLimit Direct
VelocityDataScaling 2 N/A
VelocityDataScalingExp 0 N/A
VelocityDataScalingFactor 1 N/A
VelocityDroop 0 VelocityDroop Direct
VelocityFeedforwardGain 0 VelocityFeedforwardGain Direct
VelocityIntegralGain 0 PositionIntegratorBandwidth 1/2π * 1000/Kpv
VelocityLimitBipolar 83.333336 N/A
VelocityLimitNegative -83.333336 VelocityLimitNegative Direct
VelocityLimitPositive 83.333336 VelocityLimitPositive Direct
VelocityOffset 0 VelocityOffset Direct
VelocityProportionalGain 1352.0822 VelocityLoopBandwidth 1/2π
VelocityServoBandwidth 215.19055 N/A
VelocityStandstillWindow 1 VelocityStandstillWindow Direct
VelocityThreshold 0 VelocityThreshold Direct
VelocityWindow 1 VelocityWindow Direct

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 Appendix C

Drive Supported Optional Attributes

The following tables describe the optional attributes that are supported for the
Kinetix® 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex® 755
Standard, and the PowerFlex 755 Safety drives.

Optional attribute tables for the PowerFlex 527 drives will be added to the next
revision of this manual.

These are the table keys.

Y = The attribute/enum/bit is supported
N = The attribute/enum/bit is NOT supported
R = The attribute is required

Logix Designer Application Device Function Codes

• B - Bus Power Converters (No Control Mode, No Control Method)
• E - Encoder, Feedback Only (No Control Mode, No Control Method)
• P - Position Loop (Position Control Mode, Closed Loop Vector Control
Method)
• 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)
• C/D - Controller/Device Replicated Attribute

See Device Function Codes on page 26 for more information.

Table 88 - Conditional Implementation Key

Key Description
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

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Appendix C Drive Supported Optional Attributes

Table 88 - Conditional Implementation Key (Continued)

Key Description
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)
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 SSI (feedback type)
SS SSI (feedback type)
TM Tamagawa (feedback type)
TP Digital Parallel (feedback type)
TT Digital AqB (feedback type)

Kinetix 350 Drive Module Table 89 specifies what optional attribute and corresponding control mode
functionality is supported by a Kinetix 350 drive module.
Optional Attributes
Table 89 - Kinetix 350 Drive Module Optional Attributes
ID Access Attribute B E F P V T Conditional Implementation
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

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 Drive Supported Optional Attributes Appendix C

Table 89 - Kinetix 350 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
735 Set Analog Output 2 Y - N N N N
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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Appendix C Drive Supported Optional Attributes

Table 89 - Kinetix 350 Drive Module Optional Attributes (Continued)

ID Access Attribute B 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 Check on this
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 - NN 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
44 Set Feedback Unit Ratio - - N N -

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 Drive Supported Optional Attributes Appendix C

Table 89 - Kinetix 350 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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

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Appendix C Drive Supported Optional Attributes

Table 89 - Kinetix 350 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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 - -
365 Get Position Fine Command - - Y - -

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 Drive Supported Optional Attributes Appendix C

Table 89 - Kinetix 350 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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
554 Set Torque Loop Bandwidth - - Y Y Y

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Appendix C Drive Supported Optional Attributes

Table 89 - Kinetix 350 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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 -

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 Drive Supported Optional Attributes Appendix C

Kinetix 5500 Drive Module Table 90 specifies what optional attributes and corresponding control mode
functionality is supported by the various Kinetix 5500 drive modules. The
Optional Attributes catalog numbers include the following:
• 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
Table 90 - Kinetix 5500 Optional Attributes
ID Access Attribute B 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 - N N N N
733/268 Get Analog Input 2 B - N N N N
734 Set Analog Output 1 B - N N N N
735 Set Analog Output 2 B - N N N N
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 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 (Y)
8 = Inertia Test (Y)
9 = Sensorless Control (Y)
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 - -

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Appendix C Drive Supported Optional Attributes

Table 90 - Kinetix 5500 Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
638/262 Get Bus Regulator Capacity - Y Y Y Y
659 Get CIP Axis Alarms Y Y Y Y Y
904 Get CIP Axis Alarms - RA Y Y Y Y Y
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 - Y Y Y Y
840 Set Current Disturbance - - Y Y Y
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 - Y 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 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 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

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 Drive Supported Optional Attributes Appendix C

Table 90 - Kinetix 5500 Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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)
31 Set* Feedback Configuration R R R R R O-Enum
0 = No Feedback (V/Y)(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 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 - 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 (Y)
130 = Sensorless Vector Economy (N)
498 Set Friction Compensation Sliding - - Y Y N
499 Set Friction Compensation Static - - Y N N

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Appendix C Drive Supported Optional Attributes

Table 90 - Kinetix 5500 Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
500 Set Friction Compensation Viscous - - Y Y N
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
1349 Set Induction Motor Magnetization Reactance - Y N N N Ind Motor only
1352 Set Induction Motor Rated Slip Speed - Y N N N Ind Motor only
1350 Set Induction Motor Rotor Resistance - Y N N N Ind Motor only
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 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 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 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-Enum1 = Database (Y)
2 = Drive NV (N)
3 = Motor NV (Y)
1323 Set Motor Integral Thermal Switch - N N N N
1324 Set Motor Max Winding Temperature - N Y Y Y
646 Set Motor Overload Action - Y Y Y Y O-Enum
1 = Current Foldback (Y)

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 Drive Supported Optional Attributes Appendix C

Table 90 - Kinetix 5500 Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
1322 Set Motor Overload Limit - Y Y Y Y
695 Set Motor Overspeed User Limit - N N N N
1317 Set Motor Polarity - Y Y Y Y
1321 Set Motor Rated Output Power - Y Y Y Y Y-IM
1320 Set Motor Rated Peak Current - N Y Y Y N-IM
697 Set Motor Thermal Overload User Limit - Y Y Y Y
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 - 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 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 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-Bits1: 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
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

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Appendix C Drive Supported Optional Attributes

Table 90 - Kinetix 5500 Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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
629 Set Shutdown Action - N N N N O-Enum
1 = Drop DC Bus (N)
370 Set Skip Speed 1 - Y - - -
371 Set Skip Speed 2 - N - - -
372 Set Skip Speed 3 - N - - -
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 (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 - - 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 - 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 - N Y Y -
473/325 Set Velocity Limit - Positive - N Y Y -

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 Drive Supported Optional Attributes Appendix C

Table 90 - Kinetix 5500 Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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 Y Y Y Y

Kinetix 5700 Drive Module Table 91 specifies what optional attribute and corresponding control mode
functionality is supported by the single axis Kinetix 5700 High Power Inverter.
Optional Attributes The catalog numbers are:
• 2198-S086-ERS3
• 2198-S130-ERS3
• 2198-S160-ERS3
Table 91 - Kinetix 5700 High Power Inverter Optional Attributes
Attribute ID Access Rule Attribute Name B 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
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/Vxx
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/Vxx
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/Vxx
874 Set Auto Sag Slip Increment - - N N N N V26/Vxx
875 Set Auto Sag Time Limit - - N N N N V26/Vxx
876 Set Auto Sag Start - - N N N N V26/Vxx

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Appendix C Drive Supported Optional Attributes

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 (N)
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) Vxx
14: Control Mode Change (N) V26/Vxx
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/Vxx
17: Pass Bus Unload (Y) V26/Vxx
761 Get Axis Safety Faults - Y Y Y Y Y V24
763 Get Axis Safety State - Y Y Y Y Y V24
760 Get Axis Safety Status - Y Y Y Y Y V24
825 Set Backlash Compensation Window - - - Y - -
593 Set Brake Prove Ramp Time - - N N N N V26/Vxx
594 Set Brake Slip Tolerance - - Y Y Y Y V26/Vxx
592 Set Brake Test Torque - - Y Y Y Y V26/Vxx
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/Vxx
563 Set Commutation Polarity - - - Y Y Y PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
O-Value = 100
637 Get Converter Capacity N - N N N N
605 Get Converter Output Current N - N N N N V26/Vxx
606 Get Converter Output Power N - N N N N V26/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 - - - Y Y Y
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 - - Y Y Y Y
730 Get Digital Inputs N - N N N N

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 Drive Supported Optional Attributes Appendix C

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - Y - Y Y Y
Bandwidth
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 - Y - Y Y Y
Bandwidth
2453 Set Feedback 2 Velocity Filter Taps - Y - Y Y Y

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Appendix C Drive Supported Optional Attributes

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - - - Y Y Y
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 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
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 - - N N N N Ind Motor only, V26/Vxx
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/Vxx
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)

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 Drive Supported Optional Attributes Appendix C

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
699 Set Inverter Thermal Overload User - - Y Y Y Y
Limit
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 - - - Y Y Y
Estimate
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 - - - Y Y Y
Bandwidth
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/Vxx
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-IM
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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Appendix C Drive Supported Optional Attributes

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B 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 - - - Y Y Y
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 - - Y Y Y Y PM Motor only
1343 Set PM Motor Force Constant - - Y Y Y Y Rotary PM Motor only
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
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 - - - Y - -
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 - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/Vxx
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 - - 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
765 Set Safe Torque Off Action - - N N N N O-Enum V26/Vxx
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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 Drive Supported Optional Attributes Appendix C

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B 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 - - N - - -
372 Set Skip Speed 3 - - N - - -
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
1 = Current Decel Disable (F/N)
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 - - - Y Y Y
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 - - - N N N V26/Vxx
Estimate
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency - - - N N N V26/Vxx
Estimate
837 Set Torque Notch Filter High Frequency - - - N N N V26/Vxx
Limit
838 Set Torque Notch Filter Low Frequency - - - N N N V26/Vxx
Limit
842 Get Torque Notch Filter Magnitude - - - N N N V26/Vxx
Estimate
839 Set Torque Notch Filter Tuning - - - N N N V26/Vxx
Threshold
591 Set Torque Prove Current - - Y Y Y Y V26/Vxx
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 - - Y Y Y Y
511 Set Undertorque Limit Time - - Y Y Y Y
464/321 Set Velocity Droop - - N Y Y -

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Appendix C Drive Supported Optional Attributes

Table 91 - Kinetix 5700 High Power Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - - - 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 - Y Y Y Y Y
608 Set Zero Speed - - Y Y Y Y V26/Vxx
609 Set Zero Speed Time - - Y Y Y Y V26/Vxx

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 Drive Supported Optional Attributes Appendix C

Table 92 specifies what optional attribute and corresponding control mode

functionality is supported by the multi-axis Kinetix 5700 Dual Axis Inverter. The
catalog numbers are:
• 2198-D006-ERS3
• 2198-D012-ERS3
• 2198-D020-ERS3
• 2198-D032-ERS3
• 2198-D057-ERS3
Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes
Attribute ID Access Rule Attribute Name B 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
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/Vxx
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/Vxx
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/Vxx
874 Set Auto Sag Slip Increment - - N N N N V26/Vxx
875 Set Auto Sag Time Limit - - N N N N V26/Vxx
876 Set Auto Sag Start - - N N N N V26/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 (N)
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) Vxx
14: Control Mode Change (N) V26/Vxx
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/Vxx
17: Pass Bus Unload (Y) V26/Vxx

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Appendix C Drive Supported Optional Attributes

Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
763 Get Axis Safety Faults - Y Y Y Y Y V24
760 Get Axis Safety State - Y Y Y Y Y V24
761 Get Axis Safety Status - Y Y Y Y Y V24
825 Set Backlash Compensation Window - - - Y - -
593 Set Brake Prove Ramp Time - - N N N N V26/Vxx
594 Set Brake Slip Tolerance - - Y Y Y Y V26/Vxx
592 Set Brake Test Torque - - Y Y Y Y V26/Vxx
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/Vxx
563 Set Commutation Polarity - - - Y Y Y PM Motor only
562 Set Commutation Self-Sensing Current - - - N N N PM Motor only
O-Value = 100
637 Get Converter Capacity N - N N N N
605 Get Converter Output Current N - N N N N V26/Vxx
606 Get Converter Output Power N - N N N N V26/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 - - - Y Y Y
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 - - 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
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

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 Drive Supported Optional Attributes Appendix C

Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - Y - Y Y Y
Bandwidth
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 - Y - Y Y Y
Bandwidth
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

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Appendix C Drive Supported Optional Attributes

Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - - 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 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
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 - - N N N N Ind Motor only, V26/Vxx
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/Vxx
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 - - Y Y Y Y
Limit
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)

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 Drive Supported Optional Attributes Appendix C

Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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/Vxx
1317 Set Motor Polarity - - Y Y Y Y
1321 Set Motor Rated Output Power - - Y Y Y Y Y-IM
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
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 - - Y Y Y Y PM Motor only
1343 Set PM Motor Force Constant - - Y Y Y Y Rotary PM Motor only
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
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 - -

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Appendix C Drive Supported Optional Attributes

Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
446 Set Position Integrator Control - - - R - - O-Bits
1: Auto-Preset (Y)
447 Set Position Integrator Preload - - - Y - -
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 - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V26/Vxx
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 - - 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
765 Set Safe Torque Off Action - - N N N N O-Enum V26/Vxx
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 - - N - - -
372 Set Skip Speed 3 - - N - - -
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
1 = Current Decel Disable (F/N)
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)

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 Drive Supported Optional Attributes Appendix C

Table 92 - Kinetix 5700 Dual Axis Inverter Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
612 Set Stopping Time Limit - - - Y Y Y
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 - - - N N N V26/Vxx
Estimate
503 Set Torque Notch Filter Frequency - - - Y Y Y
841 Get Torque Notch Filter Frequency - - - N N N V26/Vxx
Estimate
837 Set Torque Notch Filter High Frequency - - - N N N V26/Vxx
Limit
838 Set Torque Notch Filter Low Frequency - - - N N N V26/Vxx
Limit
842 Get Torque Notch Filter Magnitude - - - N N N V26/Vxx
Estimate
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/Vxx
591 Set Torque Prove Current - - Y Y Y Y V26/Vxx
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 - - Y Y Y Y
511 Set Undertorque Limit Time - - Y 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 (Y)
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 - Y Y Y Y Y
608 Set Zero Speed - - Y Y Y Y V26/Vxx
609 Set Zero Speed Time - - Y Y Y Y V26/Vxx

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Appendix C Drive Supported Optional Attributes

Table 93 specifies what optional attribute and corresponding control mode

functionality that is supported by the Kinetix 5700 Diode Front End. These are
the support modules that provide the DC power management to the drives. The
catalog numbers are:
• 2198-P031
• 2198-P070
• 2198-P141
• 2198-P208
Table 93 - Kinetix 5700 Diode Front End Optional Attributes
Attribute ID Access Rule Attribute Name B 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/Vxx
844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/Vxx
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/Vxx
874 Set Auto Sag Slip Increment - - N N N N V26/Vxx
875 Set Auto Sag Time Limit - - N N N N V26/Vxx
876 Set Auto Sag Start - - N N N N V26/Vxx
19 Set Axis Features R R R R R R O-Bits
0: Fine Interpolation (N)
1: Registration Auto-rearm (N)
2: Alarm Log (Y)
5: Hookup Test (N)
6: Commutation Test (N)
7: Motor Test (N)
8: Inertia Test (N)
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) Vxx
14: Control Mode Change (N) V26/Vxx
15: Feedback Mode Change (N) Vxx
16: Pass Bus Status (Y) V26/Vxx
17: Pass Bus Unload (Y) V26/Vxx

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 Drive Supported Optional Attributes Appendix C

Table 93 - Kinetix 5700 Diode Front End Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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
825 Set Backlash Compensation Window - - - N - -
593 Set Brake Prove Ramp Time - - N N N N V26/Vxx
594 Set Brake Slip Tolerance - - N N N N V26/Vxx
592 Set Brake Test Torque - - N N N N V26/Vxx
638/262 Get Bus Regulator Capacity Y - N N N N
659 Get CIP Axis Alarms Y N N N N N
904 Get CIP Axis Alarms - RA Y N N N N N
617 Set Coasting Time Limit - - N N N N V26/Vxx
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 Y - N N N N
605 Get Converter Output Current Y - N N N N V26/Vxx
606 Get Converter Output Power Y - N N N N V26/Vxx
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 - - - N N N
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
731 Set Digital Outputs N - N N N 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 - 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

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Appendix C Drive Supported Optional Attributes

Table 93 - Kinetix 5700 Diode Front End Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - N - N N N
Bandwidth
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 - N - N N N
Bandwidth
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
31 Set* Feedback Configuration 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

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 Drive Supported Optional Attributes Appendix C

Table 93 - Kinetix 5700 Diode Front End Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 N N N
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/Vxx
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/Vxx
Reactance
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 - - N N N N
Limit
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)

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Appendix C Drive Supported Optional Attributes

Table 93 - Kinetix 5700 Diode Front End Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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
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/Vxx
1317 Set Motor Polarity - - N N N N
1321 Set Motor Rated Output Power - - N N N N O-IM
1320 Set Motor Rated Peak Current - - N N N N O-IM
697 Set Motor Thermal Overload User Limit - - N N N N
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
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
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 - - - N - -
365 Get Position Fine Command - - - N - -

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 Drive Supported Optional Attributes Appendix C

Table 93 - Kinetix 5700 Diode Front End Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 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 - - N N N N V26/Vxx
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 N N 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/Vxx
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 - - 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
1 = Current Decel Disable (F/N)
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)

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Appendix C Drive Supported Optional Attributes

Table 93 - Kinetix 5700 Diode Front End Optional Attributes

Attribute ID Access Rule Attribute Name B E F P V T Conditional Implementation
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 - - - 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/Vxx
Estimate
503 Set Torque Notch Filter Frequency - - - N N N
841 Get Torque Notch Filter Frequency - - - N N N V26/Vxx
Estimate
837 Set Torque Notch Filter High Frequency - - - N N N V26/Vxx
Limit
838 Set Torque Notch Filter Low Frequency - - - N N N V26/Vxx
Limit
842 Get Torque Notch Filter Magnitude - - - N N N V26/Vxx
Estimate
839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/Vxx
591 Set Torque Prove Current - - N N N N V26/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 - - 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 -
471 Set Velocity Lock Tolerance - - N N N -
469 Set Velocity Low Pass Filter Bandwidth - - - N N -
790 Set Velocity Negative Feedforward Gain - - - N N -
470/327 Set Velocity Threshold - N N N N N
608 Set Zero Speed - - N N N N V26/Vxx
609 Set Zero Speed Time - - N N N N V26/Vxx

380 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Kinetix 6500 Drive Module Table 94 specifies what optional attribute and corresponding control mode
functionality is supported by a Kinetix 6500 drive module.
Optional Attributes
Table 94 - Kinetix 6500 Drive Module Optional Attributes
Attribute ID Access Attribute Name B 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
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

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Appendix C Drive Supported Optional Attributes

Table 94 - Kinetix 6500 Drive Module Optional Attributes (Continued)

Attribute ID Access Attribute Name B 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 - - 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-Enum1 = 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 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

382 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Table 94 - Kinetix 6500 Drive Module Optional Attributes (Continued)

Attribute ID Access Attribute Name B 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 Y - Y Y Y
2453 Set Feedback 2 Velocity Filter Taps Y - Y Y Y
250 Set Feedback Commutation Aligned - - Y Y Y O-Enum2 = 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
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
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)

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Appendix C Drive Supported Optional Attributes

Table 94 - Kinetix 6500 Drive Module Optional Attributes (Continued)

Attribute ID Access Attribute Name B E F P V T Conditional Implementation
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
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)

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 Drive Supported Optional Attributes Appendix C

Table 94 - Kinetix 6500 Drive Module Optional Attributes (Continued)

Attribute ID Access Attribute Name B E F P V T Conditional Implementation
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
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 - - -

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Appendix C Drive Supported Optional Attributes

Table 94 - Kinetix 6500 Drive Module Optional Attributes (Continued)

Attribute ID Access Attribute Name B E F P V T Conditional Implementation
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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 Drive Supported Optional Attributes Appendix C

PowerFlex 527 Axis Instance Table 95 specifies what optional attribute and corresponding control mode
functionality is supported by a PowerFlex 527 drive module.
Optional Attributes
Table 95 - PowerFlex 527 Drive Module Optional Attributes
ID Access Attribute B E F P V T Conditional Implementation
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
592 Set Brake Test Torque - - N N N N Vxx
638/262 Get Bus Regulator Capacity N - N N N N

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Appendix C Drive Supported Optional Attributes

Table 95 - PowerFlex 527 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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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 Drive Supported Optional Attributes Appendix C

Table 95 - PowerFlex 527 Drive Module Optional Attributes (Continued)

ID Access Attribute B 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 - 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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Appendix C Drive Supported Optional Attributes

Table 95 - PowerFlex 527 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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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 Drive Supported Optional Attributes Appendix C

Table 95 - PowerFlex 527 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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

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Appendix C Drive Supported Optional Attributes

Table 95 - PowerFlex 527 Drive Module Optional Attributes (Continued)

ID Access Attribute B 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 - - 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

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 Drive Supported Optional Attributes Appendix C

Table 95 - PowerFlex 527 Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
464/321 Set Velocity Droop - - Y N 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 - - - 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 Table 96 specifies what optional attribute and corresponding control mode
functionality is supported by a PowerFlex 755 drive module.
Drive Module Optional
Attributes
Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes
ID Access Attribute B 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
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
873/2726 Set Auto Sag Configuration - - Y Y Y Y V28
874 Set Auto Sag Slip Increment - - Y Y Y Y V28
876 Set Auto Sag Start - - Y Y Y Y V28

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Appendix C Drive Supported Optional Attributes

Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
0 Set Axis Configuration R R R R R O-Enum
0 = Feedback Only (N)
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 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)
653 Get Axis I/O Status R R R R R R
654 Get Axis I/O Status - MFG R R R R R R
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
651 Get Axis Status R R R R R R
825 Set Backlash Compensation Window - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V28
594 Set Brake Slip Tolerance - - Y Y Y Y V28
592 Set Brake Test Torque - - Y Y Y Y V28
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
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
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
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 Ind Motor only
872 Set DC Injection Brake Time - Y Y Y Y Ind Motor only
486 Set Deceleration Limit - N N N N
730 Get Digital Inputs - Y Y Y Y
731 Set Digital Outputs - N N N N
1435 Set Feedback 1 Accel Filter Bandwidth Y - Y Y Y

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 Drive Supported Optional Attributes Appendix C

Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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
250 Set Feedback Commutation Aligned - - Y Y Y O-Enum
2 = Motor Offset (N)
3 = Self-Sense (Y)
31 Set Feedback Configuration R R R R R O-Enum
0 = No Feedback (V/Y)(T/Y)
3 = Load Feedback (PVT/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)

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Appendix C Drive Supported Optional Attributes

Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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 -
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
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
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

396 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes (Continued)

ID Access Attribute B 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 (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 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 (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
1317 Set Motor Polarity - Y Y Y Y
1321 Set Motor Rated Output Power - Y Y Y Y Y-IM
1320 Set Motor Rated Peak Current - N N N N N-IM
697 Set Motor Thermal Overload User Limit - Y Y Y Y
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 - N N N N
1326 Set Motor Winding to Ambient Resistance - N N N N
521 Get Operative Current Limit - - 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

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Appendix C Drive Supported Optional Attributes

Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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 - Y Y Y Y
630 Set Power Loss Time - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V28
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
629 Set Shutdown Action - 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 - - - Y -
834 Set SLAT Set Point - - - Y -
835 Set SLAT Time Delay - - - Y -

398 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Table 96 - PowerFlex 755 Standard Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
610 Set Stopping Action - R R R R O-Enum
2 = Ramped Decel Disable (FPV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (PV/Y)
128 = DC Injection Brake (IM/Y)
129 = AC Injection Brake (IM/Y)
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 - - N N N
502 Set Torque Low Pass Filter Bandwidth - - N N N
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 - 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 V28
609 Set Zero Speed Time - - Y Y Y Y V28

PowerFlex 755 Safety Drive Table 97 specifies what optional attribute and corresponding control mode
functionality is supported by a PowerFlex 755 drive module.
Module Optional Attributes

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Appendix C Drive Supported Optional Attributes

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes

ID Access Attribute B 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
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 V28
874 Set Auto Sag Slip Increment - - Y Y Y Y V28
876 Set Auto Sag Start - - Y Y Y Y V28
30 Set Axis Configuration R R R R R O-Enum
0 = Feedback Only (N)
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 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)
653 Get Axis I/O Status R R R R R R
654 Get Axis I/O Status - MFG R R R R R R
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
651 Get Axis Status R R R R R R
825 Set Backlash Compensation Window - - N - -
593 Set Brake Prove Ramp Time - - Y Y Y Y V28
594 Set Brake Slip Tolerance - - Y Y Y Y V28
592 Set Brake Test Torque - - Y Y Y Y V28
638/262 Get Bus Regulator Capacity - N N N N

400 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
659 Get CIP Axis Alarms Y Y Y Y Y
904 Get CIP Axis Alarms - RA Y Y Y Y Y
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
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
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 Ind Motor only
872 Set DC Injection Brake Time - Y Y Y Y Ind Motor only
486 Set Deceleration Limit - N N N N
730 Get Digital Inputs - Y Y Y Y
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 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

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Appendix C Drive Supported Optional Attributes

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes (Continued)

ID Access Attribute B 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 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)
31 Set Feedback Configuration R R R R R O-Enum
0 = No Feedback (V/Y)(T/Y)
3 = Load Feedback (PVT/N)
4 = Dual Feedback (P/Y)
8 = Dual Integrator Feedback (P/Y)
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 -
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

402 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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
1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only
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 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 (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

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Appendix C Drive Supported Optional Attributes

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
695 Set Motor Overspeed User Limit - Y Y Y Y
694 Set Motor Phase Loss Limit - - Y Y Y Y V26
1317 Set Motor Polarity - Y Y Y Y
1321 Set Motor Rated Output Power - Y Y Y Y Y-IM
1320 Set Motor Rated Peak Current - N N N N N-IM
697 Set Motor Thermal Overload User Limit - Y Y Y Y
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 - N N N N
1326 Set Motor Winding to Ambient Resistance - N N N N
521 Get Operative Current Limit - - 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 - Y Y Y Y
630 Set Power Loss Time - Y Y Y Y
590 Set Proving Configuration - - Y Y Y Y V28
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

404 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Drive Supported Optional Attributes Appendix C

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes (Continued)

ID Access Attribute B 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 - N Y Y 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 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 - - - Y -
834 Set SLAT Set Point - - - Y -
835 Set SLAT Time Delay - - - Y -
610 Set Stopping Action - R R R R O-Enum
2 = Ramped Decel Disable (FPV/Y)
3 = Current Decel Hold (PV/N)
4 = Ramped Decel Hold (PV/Y)
128 = DC Injection Brake (IM/Y)
129 = AC Injection Brake (IM/Y)
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 - - N N N
502 Set Torque Low Pass Filter Bandwidth - - N N N
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 - 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 -

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Appendix C Drive Supported Optional Attributes

Table 97 - PowerFlex 755 Safety Drive Module Optional Attributes (Continued)

ID Access Attribute B E F P V T Conditional Implementation
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 - V28
609 Set Zero Speed Time - - Y Y Y - V28

406 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Appendix D

MSG Instruction Access Only Attributes

This table lists the attributes that are available to a specific drive via messaging.
The P### references in the Conditional Implementation column refer to the
related PowerFlex® drive parameter.

Table 98 - Motion Axis Attributes Available Via Messaging

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 +(n-1)*50 Acceleration Feedback (General Feedback Signal) X X X R R R R E, MSG Access Only
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 Limit O O O O MSG Access Only
687 Bus Regulator Thermal Overload Factory Limit X O O O O MSG Access Only
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
678 CIP APR Faults C C C C Yes R-Co CScale; O-Dr DScale;
E, MSG Access Only
679 CIP APR Faults - Mfg C C C C Yes R-Co CScale; O-Dr DScale;
E, MSG Access Only
904 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 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 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 MSG Access Only
654 CIP Axis I/O Status - Mfg X X X R R R R R MSG Access Only
652 CIP Axis Status - Mfg X X X R R R R R MSG Access Only
675 CIP Initialization Faults - Mfg X X X R R R R R Yes MSG Access Only
677 CIP Start Inhibits - Mfg X X X R R R R 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

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Appendix D MSG Instruction Access Only Attributes

Table 98 - Motion Axis Attributes Available Via Messaging (Continued)

ID Attribute K350 K5500 K6500 PF755 E F P V T C/D Conditional
Implementation
900 Control Module Overtemperature Factory Limit O O O O O MSG Access Only
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 Limit O O O O MSG Access Only
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
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 MSG Access Only
1427 +(n-1)*50 Feedback n LDT Recirculations R - R R R E, LT, MSG Access Only
1426 +(n-1)*50 Feedback n LDT Type R - R R R E, LT, MSG Access Only
2402 + (n-1)*50 Feedback n Scaling Ratio O - O O O E, MSG Access Only
1401 + (n-1)*50 Feedback n Serial Number X X X O - O O O E, MSG Access Only
690 Feedback Noise Factory Limit O O O O O MSG Access Only
2385 + (n-1)*50 Feedback nS Acceleration O - O O O Yes E, MSG Access Only
2383 + (n-1)*50 Feedback nS Position O - O O O Yes E, MSG Access Only
2384 + (n-1)*50 Feedback nS Velocity O - O O O Yes E, MSG Access Only

408 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 MSG Instruction Access Only Attributes Appendix D

Table 98 - Motion Axis Attributes Available Via Messaging (Continued)

ID Attribute K350 K5500 K6500 PF755 E F P V T C/D Conditional
Implementation
2382 + (n-1)*50 Feedback nU Acceleration O - O O O Yes E, MSG Access Only
2380 + (n-1)*50 Feedback nU Position O - O O O Yes E, MSG Access Only
2381 + (n-1)*50 Feedback nU Velocity O - O O O Yes E, MSG Access Only
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 Attributes) X X X X R - R R R Yes E, MSG Access Only, P847
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

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 409

Appendix D MSG Instruction Access Only Attributes

Table 98 - Motion Axis Attributes Available Via Messaging (Continued)

ID Attribute K350 K5500 K6500 PF755 E F P V T C/D Conditional
Implementation
539 V Current Feedback X X O O O MSG Access Only
542 V Current Offsets X O O O MSG Access Only
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 +(n-1)*50 Velocity Feedback n X X X X R - R R R Yes E, MSG Access Only, P131
(General Feedback Signal Attributes)
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

410 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Appendix E

History of Changes

This appendix summarizes the revisions to this manual. Reference this appendix
if you need information to determine what changes have been made across
multiple revisions. This may be especially useful if you are deciding to upgrade
your hardware or software based on information added with previous revisions of
this manual.

MOTION-RM003F-EN-P These tables contain the major changes made in MOTION-RM003F-EN-P.

Table 99 - General Summary of Changes
Topic
Changed EnDat feedback interfaces to 2.1 and 2.2
Added Kinetix® 5700 and PowerFlex® 527 information

Table 100 - Summary of Changes for CIP Axis Attributes

Topic
Minor edits to various attributes.
Changed the following in Table 41:
• ‘EnDat 2.1’ to ‘EnDat Sine/Cosine’
• ‘EnDat 2.2’ to ‘EnDat Digital’
• ‘SSI’ to ‘SSI Digital’ and updated resolution
• ‘BiSS’ to ‘BiSS Digital’
Added the following to Table 41:
• SSI Sine/Cosine
• BiSS Sine Cosine
• SSI AqB
Changed the following in Table 42:
• ‘EnDat 2.1’ to ‘EnDat Sine/Cosine’
• ‘EnDat 2.2’ to ‘EnDat Digital’
• ‘SSI’ to ‘SSI Digital’
• ‘BiSS’ to ‘BiSS Digital’
Added the following to Table 42:
• SSI Sine/Cosine
• SI AqB
• BiSS Sine Cosine
Added the following attributes:
• Flying Start Method
• Motor Overload Protection Method
• Inverter Overload Protection Method
• Converter Overload Protection Method
• Bus Regulator Overload Protection Method

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 411

Appendix E History of Changes

Table 100 - Summary of Changes for CIP Axis Attributes

Topic
Changed the following in Table 45:
• ‘EnDat 2.1’ to ‘Endat Sine/Cosine’
• ‘EnDat 2.2’ to ‘EnDat Digital’
• ‘SSI’ to ‘SSI Digital’
• ‘BiSS’ to ‘BiSS Digital’
Added the following to Table 45:
• SSI Sine/Cosine
• BiSS Sine Cosine
• SSI AqB
Updated Current Decel and Disable description in Table 46
• General updates to Table 49
Added the following status conditions to Table 49:
• Position Control Mode
• Velocity Control Mode
• Torque Control Mode
Added the following status names to Table 50:
• PositionControlMode
• VelocityControlMode
• TorqueControlMode
General updates for Table 51 with the following additions:
• Added Position Control Mode status bit
• Added Velocity Control Mode status bit
• Added Torque Control Mode status bit
General updates for Table 52 with the following addition:
Motor Thermostat Input
Updated Table 57
Added Converter Pre-Charge Input Deactivated to Table 59
Updated Initializing State section
Updated Testing State section

Table 101 - Summary of Changes for Drive Supported Optional Attributes

Topic
Minor edits to various attributes.
Added these attributes:
• Feedback 1 Accel Filter Taps
• Feedback 1 Velocity Filter Taps

MOTION-RM003E-EN-P These tables contain the major changes made in MOTION-RM003E-EN-P.

Table 102 - Summary of Changes for Control Modes and Methods
Topic
Updated various attribute rows with access changes, ID updates, and implementation codes.
If there is a change bar on a row in the table, it can mean that the topic had changes in Axis
Attributes and not just this section.

412 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 History of Changes Appendix E

Table 103 - Summary of Changes for Axis Attributes

Topic
Updated the Proving Configuration attribute.
Minor edits to various attributes.
Added these attributes:
• Torque Notch Filter High Frequency Limit
• Torque Notch Filter Low Frequency Limit
• Torque Notch Filter Tuning Threshold
• Torque Notch Filter Frequency Estimate
• Torque Notch Filter Magnitude Estimate
• Torque Low Pass Filter Bandwidth Estimate
• Adaptive Tuning Gain Scaling Factor
• Adaptive Tuning Configuration
Updated various access by message only attributes to GSV/SSV.

MOTION-RM003D-EN-P These tables contain the major changes made in MOTION-RM003D-EN-P.

Table 104 - Summary of Changes for Control Modes and Methods
Topic
Bus Power Converters added to No Control Mode
Bus Power Converters added to Conditional Implementation
Added the Bus Power Converter control mode
Bus Power Converters added to Device Function Codes
Updated attributes to include the Bus Power Converter device code, where applicable
Updated to the Device Function Codes, including Axis Safety attributes

Table 105 - Summary of Changes for Axis State Behavior

Topic
Updated Device Function Codes
Added Axis Update Schedule
Added bits to the Axis Features attribute
Added Axis Update Status bit
Added Safety Fault bit
Updated Axis Statistical attributes
Updated Travel Mode attribute
Updated Motor Type attributes
Added Axis Safety attributes
Updated Feedback Configuration attribute
Updated SLAT Configuration attribute
Updated Load Observer Configuration attribute
Updated Torque Limit Positive attribute
Added updated information about Stopping Sequences
Added Zero Speed and Zero Speed Time attributes
Added Proving Configuration attributes

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 413

Appendix E History of Changes

Table 105 - Summary of Changes for Axis State Behavior

Topic
Added Brake Test Torque, Brake Prove Ramp Time, Brake Slip Tolerance, , Auto Sag Sip
Increment, Auto Sag Time Limit, and Auto Sag Start attributes
Updated CIP Axis State attribute
Updated CIP Axis Status bit descriptions
Updated Axis I/O Status - RA
Updated Standard Exceptions
Updated CIP Axis Exception Action - RA
Added Guard Status attributes
Added Axis Safety attributes
Updated Motion Control Axis Behavior Model
Updated Axis State Transitions
Updated State Behavior
Updated Bus Configuration and Bus Regulator Action attributes
Added Digital Input Configuration attribute
Updated Module Support attributes

Table 106 - Summary of Changes for Drive Supported Optional Attributes

Topic
Updated Control Modes

MOTION-RM003C-EN-P These tables contain the major changes made in MOTION-RM003C-EN-P.

Table 107 - Summary of Changes for Control Modes and Methods
Topic
Changes have been made to various attributes.
Changes have been made to Conditional Implementation.
Added the attribute Motion Instruction Compatibility.
Deleted these attributes: System Acceleration Base, Drive Model Time Constant Base, and
Drive Rated Peak Current. These are controller only attributes and are not accessible.
Added MSG only attributes.
Added attributes.

Table 108 - Summary of Changes for Axis Attributes

Topic
CIP Motion changed to Integrated Motion on the EtherNet I/P Network.
Changed attribute SET access to Logix Designer where needed.
Made various changes to attributes.
Changes have been made to the Command Generation Behavior attribute.
Added an ATTENTION to the Attribute Access Rules.
Added Tag Filtering.

414 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 History of Changes Appendix E

Table 108 - Summary of Changes for Axis Attributes

Topic
Added Enumerations for velocity and torque loops.
Added Module Configuration Attributes.
Added Interpolated Position Configuration.
Deleted these attributes: System Acceleration Base, Drive Model Time Constant Base, and
Drive Rated Peak Current. These are controller only attributes and are not accessible.
Added MSG only attributes.
Added attributes.

Table 109 - Appendix: Drive Supported Optional Attributes

Topic
Added the Kinetix 350 Drive Module Optional Attributes.
Added the Kinetix 5500 Drive Module Optional Attributes.
Added the Kinetix 6500 Drive Module Optional Attributes.
Added the PowerFlex 755 Standard Drive Module Optional Attributes.
Added the PowerFlex 755 Safety Drive Module Optional Attributes.

MOTION-RM003B-EN-P These tables contain the major changes made in MOTION-RM003B-EN-P.

Table 110 - Summary of Changes for Control Modes and Methods
Topic
CIP Motion changed to Integrated Motion on the Ethernet I/P Network.
Changes made to Acceleration Control Method.
Changes made to Conditional Implementation.
Changes made to various attributes.
Added the Motion Instruction Compatibility.

Table 111 - Summary of Changes for Axis Attributes

Topic
CIP Motion changed to Integrated Motion on the Ethernet I/P Network.
Added Interpolated Position Configuration.
Added Motion Control Status Bits and descriptions related to MDSC.
Made changes to various attributes.
Changes to Command Generation Behavior.

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 415

Appendix E History of Changes

Notes:

416 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Glossary

The following terms and abbreviations are used throughout this manual. For
definitions of terms not listed here, refer to the Allen-Bradley Industrial
Automation Glossary, publication AG-7.1.

Absolute Position Retention (APR) While Homing creates an absolute machine reference position, the APR bit is
designed to retain the absolute position.

Axis An axis is a logical element of a motion control system that controls or monitors
of machine movement, or it is associated with a device that controls or monitors
movement. Axes can be rotary or linear, physical or virtual, controlled or
monitored, or associated with AC/DC power converters or position I/O devices.

Bus Regulator A bus regulator is used to limit the rise in DC Bus voltage level that occurs when
decelerating a motor.

CIP Common Industrial Protocol

CIP Motion CIP Motion defines extensions to CIP Common objects and device profiles to
support motion control over CIP networks.

CIP Sync CIP Sync defines extensions to CIP Common objects and device profiles to
support time synchronization over CIP Networks.

CIP Motion I/O Connection CIP Motion I/O connection is the periodic bidirectional, Class 1, CIP
connection between a controller and a drive that is defined as part of the CIP
Motion standard.

CIP Motion Drive CIP Motion Drive refers to any drive device that complies with the CIP Motion
standard.

CIP Motion Peer Connection Name given to the periodic multicast, producer/consumer, CIP connection
between peer devices in a motion control system that is defined as part of the CIP
Motion standard. Peer devices could be either controllers or drives.

Closed Loop Closed loop is a method of control where there is a feedback signal of some kind
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, but in some cases the signal is derived from the motor
excitation, for example, sensorless operation.

Converter A converter is a device that generally converts AC input to DC output. A

Converter is also commonly called the Drive Power Supply. In the context of a
drive system, the Converter is responsible for converting AC Main input into
DC Bus power.

Cyclic Data Block The cyclic data block is a high priority real-time data block that is transferred by a
CIP Motion connection on a periodic basis.

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 417

Glossary

CIP Sync CIP Sync is the ODVA implementation of the IEEE 1588-2008 standard. The
protocol provides a mechanism to synchronize clocks between controllers, I/O
devices, and other automation products.

Drive A drive is a device designed to control the dynamics of a motor.

Event Data Block The event data block is a medium priority real-time data block that is transferred
by a CIP Motion connection only after a specified event occurs. Registration and
marker input transitions are typical drive events.

Get/Read A Get/Read involves retrieving an attribute value from the perspective of

Controller side of the interface.

Inverter An inverter is a device that generally converts DC input to AC output. An

Inverter is also commonly called the Drive Amplifier. In the context of a drive
system, the Inverter is responsible for controlling the application of DC Bus
power to an AC motor.

Motion Motion refers to any aspect the dynamics of an axis. In the context of this
document it is not limited to servo drives but encompasses all forms of drive
based motor control.

Open Loop Open loop is a methods of control where there is no application of feedback to
force the actual motor dynamics to match the commanded dynamics. Examples
of open loop control are stepper drives and variable frequency drives.

Shunt Regulator A shunt regulator is a specific Bus Regulator method that switches the DC Bus
across a power dissipating resistor to dissipate the regenerative power of a
decelerating motor.

Service Data Block The service data block is a lower priority real-time data block associated with a
service message from the controller that is transferred by a CIP Motion
connection on a periodic basis. Service data includes service request messages to
access attributes, run a drive based Motion Planner, or perform various drive
diagnostics.

Set/Write A Set/Write involves setting an attribute to a specified value from the perspective
of Controller side of the interface.

Synchronized Synchronized is a condition where the local clock value on the drive is locked
onto the master clock of the distributed System Time. When synchronized, the
drive and controller devices may utilize time stamps associated with CIP Motion
connection data.

System Time System time is the absolute time value as defined in CIP Sync standard in the
context of a distributed time system where all devices have a local clock that is
synchronized with a common master clock. In the context of CIP Motion,
System Time is a 64-bit integer value in units of microseconds or nanoseconds
with a value of 0 corresponding to January 1, 1970.

418 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Glossary

Time Stamp Time stamp is a system time stamp value associated with the CIP Motion
connection data that conveys the absolute time when the associated data was
captured or can be also used to determine when associated data is to be applied.

Time Offset Time offset is the System Time Offset value associated with the CIP Motion
connection data that is associated with source device. The System Time Offset is
a 64-bit offset value that is added to a device’s local clock to generate System Time
for that device.

Variable Frequency Drive (VFD) Variable Frequency Drive (VFD) is a class of drive products that seek to control
the speed of a motor, typically an induction motor, through a proportional
relationship between drive output voltage and commanded output frequency.
Frequency drives are, therefore, sometimes referred to as a Volts/Hertz drives.

Vector Drive Vector drive is a class of drive products that seek to control the dynamics of a
motor via closed loop control which includes, but is not limited to, closed loop
control of both torque and flux vector components of motor stator current
relative to the rotor flux vector.

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 419

Glossary

Notes:

420 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Index

Numerics
1756-ENxT 65
1756-M02AE 63

A
absolute position recovery 65
Acceleration Commands 27
acceleration control 186
acceleration estimate 187
acceleration feedback 184
acceleration feedback scaling 148
acceleration feedback selection 187
acceleration feedforward 182
acceleration limiter 186
acceleration reference 184
acceleration trim 184
accessing attributes 49
GSV/SSV 50
MSG 52
attribute
acceleration command 184
acceleration control 184, 185
acceleration feedback 133
acceleration feedforward 174
acceleration feedforward gain 175
acceleration fine command 154
acceleration limit 185
actual acceleration 74
actual position 72
actual velocity 74
actuator diameter 129
actuator diameter unit 129
actuator lead 128
actuator lead unit 129
actuator type 128
adaptive tuning configuration 194
adaptive tuning gain scaling factor 193
ambient temperature 234
analog input 279
analog output 279
attribute error code 250
attribute error id 250
auto sag configuration 229
auto sag slip increment 229
auto sag start 230
auto sag time limit 230
average velocity 73
average velocity timebase 103
axis configuration 69
axis configuration state 64
axis data type 66
axis event 150
axis event bits 80
axis fault bits 84
axis features 67

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 421

Index

bits 67 converter ouput power 217

axis I/O status 85 converter output current 217
axis I/O status - MFG 86 converter overload protection method 233
axis ID 65 converter overtemperature factory limit 263
axis instance 63 converter pre-charge overload factory limit
axis safety faults 287 262
axis safety state 285 converter rated output current 277
axis safety status 286 converter rated output power 277
axis state 64 converter thermal overload factory limit 263
axis statistical 89 cumulative control power cycles 89
axis status 86 cumulative energy use 89
axis status bits 83 cumulative main power cycle 89
axis update schedule 65 cumulative motor revs 89
backlash compensation window 190 cumulative run time 89
backlash reversal offset 190 current command 204
brake prove ramp time 229 current control 204
brake slip tolerance 229 current disturbance 205
brake test torque 229 current error 205
break frequency 216 current feedback 205
break voltage 215 current limit source 204
bus overvoltage factory limit 261 current reference 204
bus regulator capacity 234 current vector limit 208
bus regulator overload protection method DC injection brake current 224
233 DC injection brake time 224
bus regulator overtemperature factory limit deceleration limit 185
262 digital input configuration 278
bus undervoltage factory limit 261 digital inputs 278
C2C connection instance 64 digital outputs 278
C2C map instance 64 direct command velocity 78
CIP APR faults 275 directional limit 102
CIP axis alarms 251 drive commissioning 289
CIP axis exception action 266 drive enable input checking 279
CIP axis exceptions 250 drive model time constant base 94
CIP axis faults 251 drive output 217
CIP axis I/O status 243 dynamics configuration bits 113
CIP axis I/O status - Mfg 244 encoderless torque prove 229
CIP axis I/O status - RA 243 event capture 149, 152
CIP axis state 237 feedback 130
CIP axis status 238 feedback 1 temperature 235
CIP axis status - Mfg 242 feedback commutation aligned 211
CIP axis status - RA 242 feedback configuration 135
CIP initialization faults 270 feedback data loss factory limit 262
CIP start inhibit 272 feedback data loss user limit 265
coasting time limit 219 feedback info 133
cogging compensation 195 feedback interface 146
command acceleration 77 feedback master select 137
command generator configuration 155 feedback mode 136
command notch filter frequency 157 feedback n accel filter bandwidth 145
command position 76 feedback n accel filter taps 145
command reference generation 154 feedback n battery absolute 145
command torque 76 feedback n catalog number 133
command update delay offset 93 feedback n cycle interpolation 142
command velocity 77 feedback n cycle resolution 141
commutation alignment 210 feedback n data length 143
commutation offset 209 feedback n LDT recirculations 144
commutation polarity 210 feedback n LDT type 144
commutation self-sensing 209 feedback n length 142
control method 71 feedback n loss action 144
control Mode 70 feedback n polarity 139
control mode 165 feedback n resolution unit 138
control module overtemperature factory limit feedback n resolver cable balance 143
262 feedback n resolver excitation frequency 143
control power-up time 89 feedback n resolver excitation voltage 143
conversion constant 103 feedback n resolver transformer ratio 143
converter capacity 234 feedback n scaling ratio 144
converter ground current factory limit 263 feedback n serial number 133

422 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Index

feedback n startup method 140 inhibit axis 65

feedback n turns 142 interpolated actual position 75
feedback n type 139 interpolated command position 77
feedback n unit 138 interpolated position configuration 77
feedback n velocity filter bandwidth 145 interpolation time 75
feedback n velocity filter taps 144 inverter capacity 233
feedback noise factory limit 262 inverter heatsink temperature 234
feedback noise user limit 265 inverter overload action 236
feedback nS acceleration 134 inverter overload limit 235
feedback nS position 134 inverter overload protection method 232
feedback nS velocity 134 inverter overtemperature factory limit 263
feedback nU acceleration 134 inverter overtemperature user limit 264
feedback nU position 134 inverter rated output current 277
feedback nU velocity 134 inverter rated output power 277
feedback signal 133 inverter rated output voltage 277
feedback signal loss factory limit 262 inverter temperature 234
feedback signal loss user limit 265 inverter thermal overload factory limit 263
feedback unit ratio 137 inverter thermal overload user limit 264
flux braking enable 225 linear motor 123
flux current error 205 linear motor damping coefficient 123
flux current feedback 205 linear motor integral limit switch 123
flux current reference 205 linear motor mass 123
flux decoupling 206 linear motor max speed 123
flux integral time constant 208 linear motor overspeed factory limit 261
flux loop bandwidth 208 linear motor pole pitch 123
flux up control 209 linear motor rated speed 123
flux up time 209 linear PM motor 125
flux voltage output 206 load actuator 128
flying start enable 156 load inertia ratio 293
flying start method 156 load observer acceleration estimate 184
force 189 load observer bandwidth 185
frequency control method 215 load observer configuration 185
friction compensation sliding 190 load observer feedback gain 185
friction compensation static 191 load observer integrator bandwidth 185
friction compensation viscous 191 load transmission 128
friction compensation window 191 map instance 63
group instance 63 master input configuration bits 90
guard faults 283 master offset 78
guard status 281 master position filter bandwidth 90
hardware overtravel input checking 279 maximum acceleration 111
home configuration bits 110 maximum acceleration jerk 112
home direction 104 maximum deceleration 111
home offset 110 maximum deceleration jerk 113
home position 110 maximum frequency 215
home return speed 111 maximum speed 111
home sequence 104 maximum voltage 215
home speed 111 mechanical brake control 220
hookup test commutation offset 290 mechanical brake engage delay 221
hookup test commutation polarity 290 mechanical brake release delay 220
hookup test distance 294 memory use 64
hookup test feedback 291 module alarm bits 247
hookup test feedback channel 294 module channel 63
hookup test status 290 module class code 63
hookup test time 294 module fault bits 245
induction motor 126 motion alarm 88
induction motor flux current 126 motion control configuration 67
induction motor magnetization reactance 127 motion control signal 72
induction motor rated 126 motion control status 80
induction motor rated slip speed 127 motion dynamic 111
induction motor rotor leakage reactance 127 motion exception action 92
induction motor rotor resistance 127 motion fault 88
induction motor stator leakage reactance 126 motion homing 104
induction motor stator resistance 126 motion planner configuration 90
inertia observer configuration 194 motion polarity 101
inertia observer filter bandwidth 194 motion resolution 97
inertia test result 292 motion scaling 95

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 423

Index

motion scaling configuration 95 position command 165

motion status 80 position error 166
motion unit 97 position error tolerance 172
motor 114 position error tolerance time 172
motor capacity 233 position feedback 133, 165
motor catalog number 115 position fine command 154
motor data source 116 position integral feedback 166
motor date code 115 position integrator bandwidth 172
motor device code 116 position integrator control 173
motor electrical angle 204 position integrator output 166
motor integral thermal switch 119 position integrator preload 173
motor max winding temperature 119 position lead lag filter bandwidth 173
motor overload action 235 position lock tolerance 172
motor overload limit 119 position loop 165
motor overload protection method 232 position loop bandwidth 172
motor overspeed user limit 264 position loop configuration 172
motor overtemperature factory limit 262 position loop output 166
motor overtemperature user limit 264 position notch filter frequency 173
motor phase loss limit 264 position reference 165
motor polarity 118 position scaling denominator 96
motor rated continuous current 118 position scaling numerator 96
motor rated output power 118 position trim 165
motor rated peak current 118 position units 102
motor rated voltage 118 position unwind 103
motor serial number 115 position unwind denominator 96
motor temperature 234 position unwind numerator 96
motor test counter EMF 290 programmed stop mode 112
motor test flux current 289 proving configuration 226
motor test inductance 289 ramp acceleration 156
motor test resistance 289 ramp deceleration 156
motor test result 289 ramp jerk control 156
motor test slip speed 289 ramp velocity 155
motor test status 289 registration 75
motor thermal overload factory limit 262 registration 1 negative edge position 149
motor thermal overload user limit 264 registration 1 negative edge time 150
motor thermostat OK input pulse reject filter registration 1 positive edge position 149
119 registration 1 positive edge time 150
motor type 117 registration inputs 149
motor unit 117 resistive brake contact delay 220
motor winding to ambient resistance 119 rotary motor 122
mtion database storage 94 rotary motor damping coefficient 122
operative current limit 204 rotary motor fan cooling derating 122
output cam execution targets 90 rotary motor fan cooling speed 122
output cam lock status 87 rotary motor interia 122
output cam pending status 87 rotary motor max speed 122
output cam status 86 rotary motor overspeed factory limit 261
output cam transition status 87 rotary motor poles 122
output current 217 rotary motor rated speed 122
output frequency 217 rotary PM motor 124
output power 217 run boost 216
output voltage 217 safe torque off action 288
overtorque limit 195 scaling accumulator 147
overtorque limit time 196 scaling source 95
permanent magnet motor 120 signal access 101
PM motor force constant 125 skip speed 155
PM motor inductance 120 skip speed band 155
PM motor Ld flux saturation 121 slat configuration 178
PM motor Ld inductance 120 slat set point 178
PM motor linear voltage constant 125 slat time delay 178
PM motor Lq Flux saturation 121 slip compensation 215
PM motor Lq inductance 120 soft travel limit checking 93
PM motor rated force 125 soft travel limit, positive and negative 93
PM motor rated torque 124 start actual position 73
PM motor resistance 120 start boost 216
PM motor rotary voltage constant 124 start command position 76
PM motor torque constant 124 start master offset 78

424 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Index

stopping action 218 velocity fine command 154

stopping time limit 219 velocity integrator bandwidth 175
stopping torque 219 velocity integrator control 176
strobe 73 velocity integrator output 175
strobe command position 76 velocity integrator preload 176
strobe master offset 78 velocity limit 177
system acceleration base 94 velocity lock tolerance 177
system inertia 190 velocity loop 174
torque command 189 velocity loop bandwidth 175
torque control signal 189 velocity loop configuration 175
torque decoupling 205 velocity loop output 175
torque inertia estimate 189 velocity low pass filter bandwidth 177
torque integral time constant 208 velocity negative feedforward gain 176
torque lead lag filter bandwidth 191 velocity offset 175
torque limit 192, 195 velocity reference 174
torque loop bandwidth 208 velocity standstill window 177
torque low pass filter bandwidth 191 velocity threshold 177
torque low pass filter bandwidth estimate 193 velocity trim 174
torque notch filter frequency 191 W voltage output 206
torque notch filter frequency estimate 192 watch position 74
Torque Notch Filter High Frequency Limit 192 zero speed 225
torque notch filter high frequency limit 192 zero speed time 225
torque notch filter low frequency limit 192 attribute access
torque notch filter magnitude estimate 193 rules 50
torque notch filter tuning threshold 192 attribute units 62
torque offset 190 attributes
torque prove current 228
torque rate limit 195 motion control 59
torque reference 189 motion control interface 62, 63
torque reference filtered 189 optional 22
torque reference limited 189 required 22
torque threshold 195 axis attributes 11
torque trim 189 interpreting 59
torque voltage output 205 access rules 60
transmission ratio input 128 data type 60
transmission ratio output 128 default, minimum, maximum range
travel mode 95 limits 61
travel range 96 device control codes (mode) 60
tune acceleration 292 semantics of values 61
tune acceleration time 292 tag data 60
tune deceleration 292 usage (Implementation) 60
tune deceleration time 292 optional 22
tune friction 293 organization 55
tune inertia mass 293 required 22
tune load offset 293 Axis Tags 49
tune status 292 AXIS_CIP_DRIVE 11
tuning direction 295 axis attributes 47
tuning select 295
tuning speed 295
tuning torque 295 B
tuning travel limit 295
U current feedback 206 backlash compensation 198
U voltage output 206 base update period 65
undertorque limit 196 bus power converters 23, 345
undertorque limit time 196
units 62
V current feedback 206 C
V voltage output 206
velocity command 174 CIP 47
velocity droop 176 CIP axis
velocity error 174 attributes 15
velocity error tolerance 176 CIP Sync 418
velocity error tolerance time 176 closed loop 16, 183
velocity feedback 133, 174 position control 19
velocity feedforward 165 velocity control 20
velocity feedforward gain 172 cogging compensation 203

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 425

Index

command data sources 158 control mode

command fine interpolation 159 feedback only 79
command generation 158 no control 79
command notch filter 164 conversion constant 61
command ramp generator 162 course update rate 57
commutation unwind and offset 146 current control 212
conditional implementation 22, 24 current feedback 213
!E 24 current vector limiter 212
AOP 24 cyclic
controller only 24 write 57
CScale 24 cyclic drive parameters 58
Dr 24 cyclic read/write 56, 57
drive scaling 24
DScale 24
DSL 24 D
E 24
E21 24 device control code 27, 61
E22 24 device control codes 26
HD 24 device function codes
HI 24 combinations 61
IM 24 direct-drive rotary shear 99
INT 24
IPM 24 drive disable 228
linear absolute 24 drive enable 227
linear motor 24 drive parameters
LT 24 cyclic value 56
NV 24 Droop 176
O-Bits 24
O-Dr 24
O-Enum 24 E
P### 24
PM 24 encoder 23, 345
R-Co CScale 24 Estimates 187
Rotary Absolute 24 event input 152
Rotary Motor 24 event latches 152
SC 25
SL 25 event time stamps 152
SPM 25
SS 25
TM 25 F
TP 25 feedback accumulator 146
TT 25 feedback and load type 97
Control Method
feedback channel 131
axis configuration 17
closed and open loop 16 feedback channels 148
control methods 16 feedback configuration 131, 135
Control Mode feedback filtering 147
axis attribute feedback mode 137
device control codes 27 feedback n data code 143
axis attributes feedback scaling 148
conditional 22 feedback sources 146
no control mode 26
position control mode 26 feedback startup 141
required 22 feedback type 130, 141
torque control mode 26 Digital AqB 25
velocity control mode 26 Digital Parallel 25
axis configuration 17 Sine/Cosine 25
AXIS_CIP_DRIVE 15 SSI 25
B, E, P,V ,T ,F 15 Tamagawa 25
closed loop position 19 feedback unit 141
closed loop velocity 20 feedforward signal selection 163
position control 15 fractional unwind 99
frequency control 16, 23, 345

426 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Index

friction compensation 199 N

negative feedforward 182
G ng 195
no control 16, 18
Get System Value 49
notch filter 202
GSV 49
access 52
O
H Offset 110
hertz operation 170 open loop 16
homing mode 104 open loop frequency 170
homing sequence 105
P
I parameters
IEEE per phase motor 114 access 56
Axis Configuration 69
inertia observer 203
organize 55
input filtering 53 PI vector control 16
PM motor flux saturation 120
L position
closed loop 169
lead-lag filter 201 position control 167
linear closed loop 167
control applications 17 position feedback 167
load observer 186, 188 position loop 23, 345
load observer torque estimate 184 position loop output filters 168
Logix Designer 11 position PI gains 167
low pass filter 201

R
M replicated 23, 345
master axis 45 replicated attributes 23, 27, 345
max mode 180 required implementation 22
Message 49 rotary
min mode 179 control applications 17
mode of operation rotary motor with gearbox/ball-screw 100
no control 18 rotary shear with gearbox 100
position control 19
torque control 20
velocity control 20 S
mory 64
sample projects 11
motion control axis attributes 59
sensorless vector 170
attribute name 59
optional attributes 59 Set System Value 49
SSV access rule 59 sliding friction compensation 200
vendor specific bits 59 slip compensation 171
Motion Database 61 SSV 49
motion instructions 44 SSV promotion 137
Motion Planner 45 Stahl SSI 25
motion resolution standard CIP axis fault names 256
scaling factors 97 standard exceptions 252
value examples 99
static friction compensation 200
motion task 65
stopping sequences 221
motor commutation 214
Studio 5000 Logix Designer
motor winding to ambient capacitance 119
main dialog box 11
MSG 49
access 52

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 427

Index

T
tag filtering 54
torque control 21, 197
torque estimates 187
torque input sources 197
torque limiter 202
torque loop 23, 345
torque mode 179
travel range limit 98

V
velocity control 180
velocity droop 171, 182
velocity error filter 181
velocity feedback 181
velocity feedback scaling 148
velocity feedforward 168
velocity gains 181
velocity limiter 181
velocity loop 23, 345
viscous friction compensation 201
voltage output 213
volts operation 170

428 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

 Index

Notes:

Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015 429

Index

Notes:

430 Rockwell Automation Publication MOTION-RM003G-EN-P - November 2015

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Publication MOTION-RM003G-EN-P - November 2015

Supersedes Publication MOTION-RM003F-EN-P - July 2015 Copyright © 2015 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.