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ControlLogix
Allen-Bradley ControlLogix Reference Manual
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CIP
Axis A
ttributes
Chapter 4
Rock
wel
l Au
t
om
ation
Pu
bl
ic
ation
MOT
IO
N
-
RM
003I
-
EN
-
P
-
Feb
rua
ry
2018
449
Dri
ve En
abl
e Seq
uen
ce wit
h Pr
ov
ing T
ests
448
450
Table of Contents
Default Chapter
5
Table of Contents
5
Additional Resources
11
Preface
11
Legal Notices
12
Integrated Motion on the Ethernet/Ip Network
15
Integrated Motion Axis Control Modes and Methods
16
Control Modes
16
Position Control Mode
17
Velocity Control Mode
18
Torque Control Mode
20
No Control Mode
21
Control Methods
21
Motion Instruction Compatibility
22
Chapter 1
15
Chapter 2 Acceleration Control Behavior
25
Acceleration Limiter
26
Load Observer
27
Command Generation Behavior
28
Command Data Sources
29
Command Fine Interpolation
30
Command Ramp Generator
33
Feedforward Signal Selection
34
Command Notch Filter
35
Current Control Behavior
35
Current Vector Limiter
36
Voltage Output
37
Current Feedback
37
Motor Commutation
38
Event Capture Behavior
38
Event Input Sources
39
Event Latches
40
Event Time Stamps
40
Fault and Alarm Behavior
41
Exceptions
41
Exceptions on
41
Rockwell Automation Publication MOTION-RM003I-EN-P - February
42
Absolute Position Recovery
43
Absolute Position Loss Without APR Faults
44
APR Fault Conditions
44
APR Fault Generation
45
APR Fault Examples
47
APR Recovery Scenarios
48
Reset an APR Fault
50
Motion Control Axis Behavior Model
51
Active Control Axis Behavior Model
52
Feedback Only Axis Behavior Model
54
CIP Motion Converter Axis Behavior Model
56
Motor Attributes Model
57
Position Control Behavior
58
Position Feedback Selection
59
Position PI Gains
60
Velocity Feedforward
60
Position Loop Output Filters
61
State Behavior
61
Torque Control Behavior
71
Torque Input Sources
72
Inertia Compensation
73
Friction Compensation
75
Torque Filters
77
Torque Limiter
78
Torque to Current Scaling
78
Velocity Control Behavior
79
Closed Loop Velocity Control
80
Open Loop Frequency Control
83
Chapter 3
87
Interpret the Attribute Tables
87
Chapter 3
89
Attribute Units
90
Device Function Codes
91
Tables CIP Data Types
91
Required Vs. Optional Axis Attributes
93
Identify Motion Axis Attributes Based on Device Function Codes
95
Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/Ip Network
111
Drive Supported Optional Attributes
114
Kinetix 350 Drive Module Optional Attributes
116
Kinetix 5500 Hardwired STO Drive Module Optional Attributes
122
Kinetix 5500 Integrated STO Drive Module Optional Attributes
130
Kinetix 5700 Safety Drive Module Optional Attributes
138
Kinetix 5700 Advanced Safety Drive Module Optional Attributes
147
Kinetix 6500 Drive Module Optional Attributes
155
Powerflex 527 Axis Instance Optional Attributes
161
Powerflex 755 Standard Drive Module Optional Attributes
168
Powerflex 755 Safety Drive Module Optional Attributes
174
MSG Instruction Access Only Attributes
181
Rockwell Automation Publication MOTION-RM003I-EN-P - February
182
Acceleration Control Attributes on
185
APR Fault Attributes on
186
Chapter 4 Control Mode Attributes ....................................................................................................
187
Acceleration Control Attributes
187
DC Bus Control Attributes on
187
Acceleration Control Configuration Attributes
189
Command Reference Generation Attributes
191
Command Generator Configuration Attributes
191
Command Generator Signal Attributes
195
Current Control Configuration Attributes
196
Current Control Signal Attributes
201
Frequency Control Configuration Attributes
204
Frequency Control Signal Attribute
206
Position Loop Signal Attributes
206
Position Loop Configuration Attributes
208
Torque/Force Control Configuration Attributes
211
Torque/Force Control Signal Attributes
220
Velocity Loop Configuration Attributes
221
Velocity Loop Signal Attributes
228
CIP Axis Attributes
187
Data Attributes
233
Axis Info Attributes
234
Axis Statistical Attributes
235
CIP Axis Status Attributes
236
Event Capture Attributes
247
Drive Attributes
249
Drive General Purpose I/O Attributes
249
Drive Output Attributes
251
Power and Thermal Management Configuration Attributes
252
Power and Thermal Management Status Attributes
254
Drive Commissioning and Tuning Attributes
257
Auto-Tune Configuration Attributes
258
Hookup Test Configuration Attributes
266
Hookup Test Result Attributes
267
Inertia Test Configuration Attributes
269
Inertia Test Result Attributes
272
Motor Test Result Attributes
275
Faults and Alarms Attributes
279
APR Fault Attributes
279
Axis Exception Action Configuration Attributes
281
Axis Exception Action
283
Configuration Fault Attributes
287
CIP Error Codes
287
Exception Factory Limit Info Attributes
290
Exception User Limit Configuration Attributes
292
Exception, Fault and Alarm Attributes
293
Initialization Faults Attributes
295
Standard Initialization Faults
296
Rockwell Automation Specific Initialization Faults
296
Module/Node Fault and Alarm Attributes
297
Feedback Attributes
302
Feedback Interface Types
302
Feedback Configuration Attributes
304
General Feedback Info Attributes
316
General Feedback Signal Attributes
316
Motion Control Attributes
317
Motion Control Configuration Attributes
317
Motion Control Interface Attributes
323
Motion Control Signal Attributes
330
Motion Control Status Attributes
341
Motion Database Storage Attributes
352
Motion Dynamic Configuration Attributes
354
Motion Homing Configuration Attributes
357
Motion Planner Configuration Attributes
367
Motion Planner Output Attributes
374
Motion Scaling Attributes
375
Motion Resolution Value Examples
386
Motor Attributes
388
General Linear Motor Attributes
388
General Motor Attributes
389
General Permanent Magnet Motor Attributes
396
General Rotary Motor Attributes
399
Induction Motor Attributes
401
Linear PM Motor Attributes
404
Interior Permanent Magnet Motor Attributes
406
Load Transmission and Actuator Attributes
409
Rotary PM Motor Attributes
412
Safety Attributes
414
Axis Safety Status Attributes
414
Guard Safety Attributes
425
Guard Safety Status Attributes
426
Stopping and Braking Attributes
431
Stopping Sequences
445
Proving Operational Sequences
448
DC Bus Control Attributes
451
Start Inhibits Attributes
453
Standard Start Inhibits
454
Rockwell Automation Specific Start Inhibits
455
Exceptions
456
Standard Exceptions
456
Standard CIP Axis Fault and Alarm Names
461
Rockwell Automation Specific Exceptions
465
Rockwell Automation Specific CIP Axis Fault Names
467
Rockwell Automation Specific CIP Axis Alarm Names
468
Rockwell Automation Publication MOTION-RM003I-EN-P - February
469
Module Configuration Attributes
472
Chapter 5 Module Configuration Block Attributes ........................................................................ 471
473
Module Class Attributes
473
Module Axis Attributes
474
Module Feedback Port Attributes
489
Module Timing Attributes
490
Module Support Attributes
492
Index
495
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Allen-Bradley ControlLogix Specifications
General
Brand
Allen-Bradley
Model
ControlLogix
Category
Industrial Electrical
Language
English
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