Allen-Bradley ControlLogix - Attribute Conversion from SERCOS to Integrated Motion on the EthernetIp Network

Interpret the Attribute Tables
Chapter 3
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 111
See also
CIP Axis Attributes on page 185
Motion Instruction Compatibility on page 22
The following table illustrates the methods used to convert a L5K file from a
Logix Designer project that uses an existing Allen-Bradley® SERCOS drive to a
comparable CIP Motion compliant drive.
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
MotionGroup "MyGroup" MotionGroup Direct
MotionModule "SercosDrive:Ch13" MotionModule Direct
RotationalPosResolution 200000 MotionResolution Direct
ConversionConstant 200000 ConversionConstant Direct
OutputCamExecutionTargets 0 OutputCamExecutionTargets Direct
PositionUnits "Position Units" PositionUnits Direct
AverageVelocityTimebase 0.25 AverageVelocityTimebase Direct
RotaryAxis Linear RotaryAxis Direct
PositionUnwind 200000 PositionUnwind Direct
HomeMode Active HomeMode Direct
HomeDirection Bi-directional Forward HomeDirection Direct
HomeSequence Immediate HomeSequence Direct
HomeConfigurationBits 16#0000_0000 HomeConfigurationBits Direct
HomePosition 0 HomePosition Direct
HomeOffset 0 HomeOffset Direct
HomeSpeed 0 HomeSpeed Direct
HomeReturnSpeed 0 HomeReturnSpeed Direct
MaximumSpeed 70.833336 MaximumSpeed Direct
MaximumAcceleration 14025.113 MaximumAcceleration Direct
MaximumDeceleration 14025.113 MaximumDeceleration Direct
ProgrammedStopMode Fast Stop ProgrammedStopMode Direct
MasterInputConfigurationBits 1 MasterInputConfigurationBits Direct
MasterPositionFilterBandwidth 0.1 MasterPositionFilterBandwidth Direct
AxisType Servo
AxisConfiguration
FeedbackConfiguration
Enum Mapping
ServoLoopConfiguration Position Servo
AxisConfiguration
FeedbackConfiguration
Enum Mapping
FaultConfigurationBits 32 ExceptionAction Enum Mapping
AxisInfoSelect1 <none> CyclicReadUpdateList Enum to Attr ID Element 0
AxisInfoSelect2 <none> CyclicReadUpdateList Enum to Attr ID Element 1
Attribute Conversion from
SERCOS to Integrated
Motion on the Ethernet/IP
Network