Allen-Bradley ControlLogix Reference Manual

Chapter 1
Integrated Motion on the EtherNet/IP Network
20 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
system inertia. Acceleration control works in concert with the inner
torque/current control loop as shown below.
A feedback device for the acceleration control configuration is mandatory and may
be used to return actual position, velocity, and acceleration data to the controller
using the cyclic data connection.
See also
Control Modes on page 16
In Torque Control application mode, the application control program or the
motion planner provide torque setpoint values to the device using the cyclic data
connection. Because motor current and motor torque are generally related by a
torque constant, Kt, torque control is often synonymous with current control.
A position feedback device for this control mode is optional. If a feedback device is
present it can be used to return actual position, velocity, and acceleration data to
the controller using the cyclic data connection.
See also
Control Modes on page 16
Torque Control Mode

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)