Allen-Bradley ControlLogix Reference Manual

Chapter 4
CIP Axis Attributes
188 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Acceleration Reference
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C
Get/
GSV
T REAL - - - Accel Units
Command acceleration reference into acceleration loop summing junction.
Acceleration Feedback
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - E
Get/
GSV
T REAL - - - Accel Units
Actual acceleration of the axis based on the selected feedback device.
Load Observer Acceleration Estimate
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C
Get/
GSV
T REAL - - - Accel Units
Output of the Load Observer that, when the Load Observer block is enabled, is
applied to the acceleration reference summing junction. In the Load Observer
configuration, this signal compensates for disturbances to the load relative to an
ideal load model. When the Load Observer is configured to operate in
Acceleration Feedback Only mode, this signal is the estimated acceleration
feedback signal used to close the acceleration loop. When the Load Observer is
disabled, this signal is 0.
Load Observer Torque Estimate
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C
Get/
GSV
T REAL - - - % Motor Rated
Product of the Load Observer Acceleration Estimate signal and the current
System Inertia value, Kj. In the Load Observer configuration, this signal represents
the estimated torque disturbances to the load relative to an ideal load model.
When the Load Observer is configured to operate in Acceleration Feedback Only
mode, this signal is an estimate of the applied motor torque. When the Load
Observer is disabled, this signal is 0.

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)