Allen-Bradley ControlLogix Reference Manual

Chapter 4
CIP Axis Attributes
222 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Since the Velocity Trim value is available as a tag value, real time velocity
corrections will be done using the Velocity Trim attribute.
Acceleration Feedforward Gain
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/SSV REAL 0 0
%
The Acceleration Feedforward Gain attribute is a value that multiplies the
Acceleration Fine Command signal to form the Acceleration Feedforward
Command that is applied to the acceleration loop summing junction. 100%
Acceleration Feedforward applies the full Acceleration Fine Command signal to
the output of the velocity loop.
Velocity Loop Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/SSV T REAL 260
FD
0
Loop Bandwidth Units
The Velocity Loop Bandwidth attribute is a value that determines the
proportional gain, Kvp, of the velocity loop that multiplies the Velocity Error
signal. This value represents the unity gain bandwidth of the velocity loop.
Velocity Integrator Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/SSV T REAL 0
FD
0
Loop Bandwidth Units
The Velocity Integrator Bandwidth attribute determines the velocity loop integral
gain, Kvi, which together with the Kvp, multiplies the integrated Velocity Error
signal. This value represents the bandwidth of the velocity integrator beyond
which the integrator is ineffective. A value of 0 for this attribute disables the
integrator.
Velocity Negative Feedforward Gain
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - PV Set/SSV REAL 0 0
%

Allen-Bradley ControlLogix Specifications

General

Brand	Allen-Bradley
Model	ControlLogix
Category	Industrial Electrical
Language	English