286 Rockwell Automation Publication 1769-UM021G-EN-P - October 2015
Chapter 11 Develop Integrated Motion over an EtherNet/IP Network Application
For a complete description of how to use a CompactLogixâ„¢ 5370 controller in an
application that uses Integrated Motion over an EtherNet/IP network, see the
Integrated Motion on the EtherNet/IP Network Configuration and Startup User
Manual, publication MOTION-UM003
.
Motion Axes Support
The 1769-L18ERM-BB1B, 1769-L27ERM-QBFC1B, 1769-L30ERM,
1769-L33ERM, and 1769-L36ERM controllers support these axes:
• AXIS_VIRTUAL
• AXIS_CIP_DRIVE
AXIS_VIRTUAL Axis
The AXIS_VIRTUAL axis is an internal axis representation that is not
associated with any physical drives. That is, you can configure the axis but it does
not cause any physical motion in your system.
AXIS_CIP_DRIVE Axis
The AXIS_CIP_DRIVE axis is a motion axis that is used with physical drives to
cause physical motion in your system as determined by your application.
Configuration Types
When adding an axis to your project, you must associate the axis to a drive.
Among other configuration parameters, you must select a configuration type.
The axis configuration type is also considered the drive configuration type.
For example, an AXIS_CIP_DRIVE axis can use a Position Loop configuration
and be associated with a Kinetix 350 drive. The axis is considered a Position
Loop-configured axis and the associated drive is considered a Position Loop-
configured drive.
The following drives support these configuration types:
• Kinetix 350, Kinetix 5500, Kinetix 5700, and Kinetix 6500 drives
– Position loop
– Velocity loop
– To r q u e l o o p
• PowerFlex® 755 drive
– Position loop
– Velocity loop
– To r q u e l o o p
– Frequency control
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