Allen-Bradley ControlLogix 1756 - Page 40

Publication 1756-RM084F-EN-P - July 2002
3-20 Creating a Complete Import/Export File
ExternalDriveType
Specify the drive type for the servo loop. Enter Torque or Velocity.
Specify:
ExternalDriveType := text
FaultConfigurationBits
Specify the fault configuration bits. Enter a hexadecimal number.
Specify:
FaultConfigurationBits := 16# value
AxisInfoSelect1
Specify an axis attribute to transmit, along with the actual position data, to the controller.
Enter <none>, Position Command, Position Feedback, Aux Position Feedback,
Position Error, Position Int. Error, Velocity Command, Velocity Feedback, Velocity Error,
Velocity Int. Error, Accel. Command, Accel. Feedback, Servo Output Level,
Marker Distance, Torque Command, Torque Feedback, Positive Dynamic Torque Limit,
Negative Dynamic Torque Limit, Motor Capacity, Drive Capacity, Power Capacity,
Bus Regulator Capacity, Motor Electrical Angle, Torque Limit Source, DC Bus Voltage.
Specify:
AxisInfoSelect1 := text
AxisInfoSelect2
Specify a second axis attribute to transmit, along with the actual position data, to the
controller. Enter <none>, Position Command, Position Feedback, Aux Position Feedback,
Position Error, Position Int. Error, Velocity Command, Velocity Feedback, Velocity Error,
Velocity Int. Error, Accel. Command, Accel. Feedback, Servo Output Level,
Marker Distance, Torque Command, Torque Feedback, Positive Dynamic Torque Limit,
Negative Dynamic Torque Limit, Motor Capacity, Drive Capacity, Power Capacity,
Bus Regulator Capacity, Motor Electrical Angle, Torque Limit Source, DC Bus Voltage.
Specify:
AxisInfoSelect2 := text
ServoPolarityBits
Specify the servo polarity bits. Enter a hexadecimal number.
Specify:
ServoPolarityBits := 16# value
VelocityFeedforwardGain
Specify the velocity feedforward gain (any positive number).
Specify:
VelocityFeedforwardGain := value
AccelerationFeedforwardGain
Specify the acceleration feedforward gain (any positive number).
Specify:
AccelerationFeedforwardGain := value
PositionProportionalGain
Specify the position proportional gain (any positive number).
Specify:
ProportionalPositionGain := value
PositionIntegralGain
Specify the position integral gain (any positive number).
Specify:
PositionIntegralGain := value
VelocityProportionalGain
Specify the velocity proportional gain (any positive number).
Specify:
VelocityProportionalGain := value
VelocityIntegralGain
Specify the velocity integral gain (any positive number).
Specify:
VelocityIntegralGain := value
VelocityScaling
Specify the velocity scaling attribute that is used to convert the output of the servo loop
into equivalent voltage to an external velocity servo drive.
Specify:
VelocityScaling := value
TorqueScaling
Specify the torque scaling attribute that is used to convert the acceleration of the servo
loop into equivalent % rated torque to the motor.
Specify:
TorqueScaling := value
OutputLPFilterBandwidth
Specify the bandwidth in Hertz of the servo’s low-pass digital output filter.
Specify:
OutputLPFilterBandwidth := value
IntegratorHoldEnable
Enter Disabled or Enabled.
Specify:
IntegratorHoldEnable := value
MaximumPositiveTravel
Specify the maximum positive position (any positive number) to be used for software
overtravel checking, in position units.
Specify:
MaximumPositiveTravel := value
Attribute: Description: