Allen-Bradley ControlLogix Reference Manual

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 221
Torque Reference
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - C Get/GSV T REAL - - - % Motor Rated
Commanded torque reference input signal before torque filter section
representing the sum of the Torque Command and Torque Trim signal inputs.
Torque Reference Filtered
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - C Get/GSV T REAL - - - % Motor Rated
Commanded torque reference input signal after torque filter section.
Torque Reference Limited
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - C Get/GSV T REAL - - - % Motor Rated
Commanded torque reference input signal after torque limiter section.
See also
Torque Control Mode on page 20
Torque/Force Control Configuration Attributes on page 211
These are the velocity loop configuration attributes associated with a Motion
Control Axis.
Velocity Offset
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/SSV REAL 0 -maxspd maxspd Velocity Units
The Velocity Offset attribute can be used to provide a velocity bias when
performing velocity control. This value is summed together with the Velocity
Trim value which is sent synchronously to the drive every Coarse Update Period.
Velocity Loop Configuration
Attributes

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)