164 Rockwell Automation Publication 1769-UM022C-EN-P - June 2018
Chapter 10 Develop Integrated Motion over an EtherNet/IP Network Application
Motion Axes Support
The 1769-L30ERMS, 1769-L33ERMS, 1769-L33ERMOS, 1769-L36ERMS,
1769-L36ERMOS, 1769-L37ERMOS, 1769-L37ERMS, 1769-L38ERMOS,
and 1769-L38ERMS 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
– Torque loop
• PowerFlex 527 and PowerFlex 755 drives
– Position loop
–Velocity loop
– Torque loop
– Frequency control
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