Allen-Bradley ControlLogix Reference Manual

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 263
Application Type Kpi Kvi iHold
Basic no no no
Tracking no yes no
Point-Point yes no yes
Const. Spd. no yes no
The next table shows which Feedforward values are applicable based on the
Application Type. Separate bits are defined in the Gain Tuning Configuration
Bits attribute to enable tuning of Velocity Feedforward, Kvff, and Acceleration
Feedforward, Kaff.
Application Type Kvff Kaff
Custom - -
Basic yes no
Tracking yes yes
Point-Point no no
Const. Spd. yes no
Finally, the Torque Low Pass Filter bit enables tuning of the Torque Low Pass
Filter Bandwidth. This bit is set for all Application Types except Custom,
Application Type Torque LP Filter
Custom -
Basic yes
Tracking yes
Point-Point yes
Const. Spd. yes
If Application Type is set to Custom, individual gain calculations can be
controlled directly by the user by changing the bit settings in the Gain Tuning
Configuration Bits attribute. If the Application Type is not Custom, these bit
settings may not be altered, thus maintaining the fixed relationship to the
Application Type as defined in the preceding tables.
Loop Response
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/GSV USINT 1 - - Enumeration:
0 = Low
1 = Medium
2 = High
3-255 = Reserved

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)