Allen-Bradley ControlLogix 1756 - Page 44

Publication 1756-RM084F-EN-P - July 2002
3-24 Creating a Complete Import/Export File
ProgrammedStopMode
Specify how a specific axis will stop when the controller changes mode or a motion group
stop (MGS) instruction is executed. Enter Fast Disable, Fast Stop, Fast Shutdown,
Hard Disable, or Hard Shutdown.
Specify:
ProgrammedStopMode := text
AxisType
Specify the intended use of the axis. Enter Servo or Feedback Only.
Specify:
AxisType := text
ServoLoopConfiguration
Specify the configuration of the loop. Enter Custom, Position Servo, Aux Position Servo,
Dual Position Servo, Aux Command Servo, Dual Command Servo, Velocity Servo, or
Torque Servo.
Specify:
ServoLoopConfiguration := 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
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
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
Attribute: Description: