Allen-Bradley ControlLogix Reference Manual

Chapter 4
CIP Axis Attributes
224 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Velocity Integrator Control
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/SSV BYTE 0
0:0
1:0
- - Bitmap
0 = Integrator Hold Enable
(R)
1 = Auto-Preset (O)
2...7 = Reserved
The Velocity Integrator Control attribute controls the behavior of the velocity
loop integrator while commanding motion through the controller. When the
integrator hold enable bit is set, the integrator is held while motion is being
commanded with a non-zero velocity. When clear, the integrator runs without
qualification. When the auto-preset bit is set, the integrator preload value is
automatically loaded with the current torque command when there is a control
mode change between torque control and velocity control. If clear, the integrator
is loaded with the configured velocity integrator preload value.
Velocity Integrator Preload
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - PV Set/SSV REAL 0 0
Accel Units
The Velocity Integrator Preload attribute is a value assigned to the velocity
integrator when the velocity control loop is enabled.
Velocity Low Pass Filter Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - PV Set/SSV T REAL 0 0 10
4
Filter Frequency Units
The Velocity Low Pass Filter Bandwidth attribute controls the bandwidth of the
Low Pass Filter applied to the Velocity Error signal. Recommended
implementation is a two pole IIR filter. A value of 0 for this attribute disables this
feature.
Velocity Threshold
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - ED Set/SSV REAL 0
FD
0
Velocity 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)