Allen-Bradley ControlLogix Reference Manual

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 213
Friction Compensation Sliding
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV REAL 0 0 100 % Motor Rated
Value added to the current/torque command to offset the effects of coulomb
friction.
Friction Compensation Static
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV REAL 0 0 100 % Motor Rated
Value added to the current/torque command to offset the effects of static friction
(sometimes referred to "sticktion").
Friction Compensation Viscous
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV REAL 0 0 100
% Motor Rated / (Motor
Units/Sec)
Value added to the current/torque command to offset the effects of viscous
friction, for example, friction that is proportional to speed.
Friction Compensation Window
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - P Set/SSV REAL 0 0
Position Units
Defines a window around the command position. When the actual position is
within this window, the effective Friction Compensation value is reduced by a
factor of the ratio of the Position Error and the Friction Compensation Window.
When the actual position is outside the window, or when the axis is being
commanded to move, the normal friction compensation algorithm applies.
Torque Lead Lag Filter Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV REAL 0 0 10
4
Filter Frequency Units

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)