Allen-Bradley ControlLogix Reference Manual

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 223
The Velocity Negative Feedforward Gain attribute is a value that reduces or
eliminates velocity overshoot by subtracting a portion of the velocity reference
signal from the velocity error.
Velocity Droop
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - FPV Set/SSV REAL 0 0
Velocity Units / Sec / %
Rated
Velocity Droop value that provides compliance to the velocity integrator by
subtracting a portion of the velocity loop effort from the velocity error input to
the velocity integrator. The presence of the Torque/Force scaling gain, Kj, in the
droop signal path lets Velocity Droop to be specified in velocity units per % rated
torque output. This parameter is also valid for V/Hz devices and its behavior is
nearly identical, but instead of % rated being related to torque, % rated is related to
current.
Velocity Error Tolerance
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - PV Set/SSV REAL 0
FD
0
Velocity Units
The Velocity Error Tolerance attribute determines the absolute maximum
Velocity Error value that can be tolerated without causing a Excessive Velocity
Error exception.
Velocity Error Tolerance Time
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - PV Set/SSV REAL 0.01 0
Seconds
The Velocity Error Tolerance Time attribute determines the maximum amount of
time that the Velocity Error Tolerance can be exceeded without generating an
exception.

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)