Motion Error Codes, faults, and attributes
572 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
AttributeErrorCode INT GSV G11/Status
Returns the appropriate CIP error code when an Axis Configuration fault occurs. It is not reset to zero until
the motion module is reconfigured.
AttributeErrorID INT GSV G11/Status
Retains the identification associated with the error code returned when an Axis Configuration fault
occurred. The module must be reconfigured to reset this attribute to zero.
AuxFeedbackConfiguration INT GSV G10/Configuration
Maps directly to the SERCOS IDN, and is automatically set based on the current Drive Polarity Settings. All
command bits are set according to the current Feedback Type value.
AuxFeedbackRatio REAL GSV G10/Configuration
Represents the quantitative relationship between the auxiliary feedback device and the motor. It is used
in range limit and default calculations during configuration, based on the selected motor's specifications.
It is also used by the drive when running the dual feedback loop configuration.
AuxFeedbackResolution DINT GSV G10/Configuration
Provides the A-B drive with the resolution of the associated feedback device in cycles. It also provides the
Logix controller and drive with critical information to compute conversion constants used in converting
drive units to feedback counts.
AuxFeedbackType INT GSV G10/Configuration
Provides the A-B drive with specific device configuration information for the auxiliary feedback device.
AuxPositionFeedback REAL GSV G11/Status
The current value of the position feedback coming from the auxiliary feedback input.
AverageVelocity REAL GSV G1/Status
The current speed of an axis, as calculated by averaging the actual velocity of the axis over the configured
Average Velocity Timebase for the axis. It is a signed value to indicate the direction in which the axis is
moving.
AverageVelocityTimebase REAL GSV G1/Configuration
Specifies the desired time in seconds for use in calculating the Average Velocity of the axis. The values
should be large enough to filter out the small changes in velocity which would otherwise result in a noisy
velocity value, yet small enough to track significant changes in axis velocity. A value between 0.25 and
0.50 seconds works for most applications.
AxisConfigurationState SINT GSV G1/Interface
Used for debugging purposes to indicate the present location of the axis in the axis configuration
state-machine. Consumed and virtual axes use this attribute also.
AxisControlBits DINT GSV G11/Status
Bit Bit Name Meaning
0 Abort Process Request
When set, the servo module/drive disables any active
tuning or testing process.
1 Shutdown Request
When set, the servo module forces the axis/drive into the
shutdown state.
2
Zero DAC Request (Servo)
Reserved (Servo Drive)
When set, the servo module forces the DAC output for the
axis to zero volts.
3 Abort Home Request When set, any homing procedures are canceled.
4 Abort Event Request
When set, any active watch or registration procedures are
canceled.
5-14 Reserved
15 Change Cmd Reference
This bit is set when the Logix controller switches to a new
position coordinate system for command position.
16-31 Reserved
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