Allen-Bradley ControlLogix - Page 207

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 207
Control Axis.
Position Trim
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Set/SSV T REAL 0 -maxpos maxpos Position Units
The Position Trim attribute is an additional position command added to the
Position Command to generate the Position Reference signal into the position
loop summing junction.
Position Reference
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Set/GSV T REAL - - - Position Units
The Position Reference attribute is the command position reference signal into
the position loop summing junction to be compared with a position feedback
signal.
Velocity Feedforward Command
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Get/GSV T REAL - - - Velocity Units
The Velocity Feedforward Command attribute is a command signal that
represents a scaled version of the command velocity profile. This signal is the
Velocity Fine Command signal scaled by Velocity Feedforward Gain and applied
to the output of the position loop.
Position Error
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Get/GSV T REAL - - - Position Units
The Position Error attribute is the error between commanded and actual position
that is the output of the position loop summing junction.