Integrated Motion on the EtherNet/IP Network
22 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
The Control Method attribute is an 8-bit enumerated code that determines the
basic control algorithm. The device applies the algorithm to control the dynamic
behavior of the motor that is associated with an axis. The Control Methods
related to the Control Modes are listed in the following table.
Control Method Filed Enumeration Definitions
Enumeration Usage Name Description
0 R/N No Control
No Control is associated with a Control Mode of No
Control where there is no explicit motor control that is
provided by the device for this axis instance.
1 R/F Frequency Control
Frequency Control is an "open loop" control method that
applies voltage to the motor, generally in proportion to
the commanded frequency or speed. This control
method is associated with Variable Frequency Drives
(VFDs) or so called Volts/Hertz drives.
2 R/C PI Vector Control
PI Vector Control is a "closed loop" control method that
uses actual or estimated feedback for closed loop
c
ascaded PI control of motor dynamics, that is, position,
velocity, acceleration, and torque, and always includes
independent closed loop PI control of Iq and Id
components of the motor current vector.
3...127 - Reserved -
128...255 - Vendor Specific -
Axis configuration
The Control Mode and Control Method are derived by the Axis Configuration
according to the following table.
Axis Configuration Valid Control Modes
Feedback Only No Control
Frequency Control Velocity Control
Position Loop Position Control
Velocity Control
Torque Control
Velocity Loop Velocity Control
Torque Control
Torque Loop Torque Control
See also
Control Modes on page 16
The following table correlates the motion instructions with the compatible
control modes. The compatibility with integrated motion is based on the Axis
Configuration and feedback type settings. The motion instructions tables are
Motion Instruction
Compatibility
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