Allen-Bradley ControlLogix Reference Manual

Chapter 3
Interpret the Attribute Tables
112 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
SERCOS Attribute Name L5K Example CIP Axis Attribute Name Conversion Method
VelocityFeedforwardGain 0 VelocityFeedforwardGain Direct
AccelerationFeedforwardGain 0 AccelerationFeedforwardGain Direct
PositionProportionalGain 528.1571 PositionLoopBandwidth 1/2p
PositionIntegralGain 0 PositionIntegratorBandwidth 1/2p * 1000/Kpp
VelocityProportionalGain 1352.0822 VelocityLoopBandwidth 1/2p
VelocityIntegralGain 0 PositionIntegratorBandwidth 1/2p * 1000/Kpv
TorqueScaling 0.01749257 SystemInertia Conversion Const/Drive Res
OutputLPFilterBandwidth 0 TorqueLPFilterBandwidth Direct
IntegratorHoldEnable Enabled
PositionIntegratorControl
VelocityIntegratorControl
Bit 0 Mapping
Bit 0 Mapping
MaximumPositiveTravel 0 MaximumPositiveTravel Direct
MaximumNegativeTravel 0 MaximumNegativeTravel Direct
PositionErrorTolerance 0.3155627 PositionErrorTolerance Direct
PositionLockTolerance 0.01 PositionLockTolerance Direct
VelocityOffset 0 VelocityOffset Direct
TorqueOffset 0 TorqueOffset Direct
FrictionCompensation 0 FrictionCompensation Direct
FrictionCompensationWindow 0 FrictionCompensationWindow Direct
BacklashStabilizationWindow 0 BacklashStabilizationWindow Direct
BacklashReversalOffset 0 BacklashReversalOffset Direct
HardOvertravelFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
SoftOvertravelFaultAction Disable Drive MotionExceptionAction Enum Mapping
PositionErrorFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
FeedbackFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
FeedbackNoiseFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping
TestIncrement 0 TestIncrement Direct
TuningTravelLimit 0 TuningTravelLimit Direct
TuningSpeed 0 TuningSpeed Direct
TuningTorque 100 TuningTorque Direct
DampingFactor 0.8 DampingFactor Direct
DriveModelTimeConstant 2.89E-04 DriveModelTimeConstant Direct
PositionServoBandwidth 84.058815 N/A
VelocityServoBandwidth 215.19055 N/A
TuningConfigurationBits 16#0000_0000 TuningConfigurationBits Direct
TorqueLimitSource Not Limited TorqueLimitSource Direct
DriveUnit Motor Rev MotionUnit Direct
PositionDataScaling 10 N/A
PositionDataScalingFactor 1 N/A
PositionDataScalingExp 0 N/A
VelocityDataScaling 2 N/A
VelocityDataScalingFactor 1 N/A

Allen-Bradley ControlLogix Specifications

General

Communication	EtherNet/IP, ControlNet, DeviceNet, DH+
I/O Capacity	Up to 128, 000 I/O points (varies by configuration)
Redundancy	Supported (with specific modules)
Programming Software	Rockwell Automation Studio 5000 Logix Designer
Operating Temperature	0°C to 60°C (32°F to 140°F)
Programming Languages	Ladder Logic, Function Block Diagram, Structured Text, Sequential Function Chart
Modularity	Yes
Certifications	UL, CE
Processor Type	Multiple options available, including standard, safety, and extreme environment processors
Power Supply	Multiple options available, including standard and redundant power supplies with various voltage ranges (e.g., 24V DC, 120/240V AC)