Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 319
Bit Motion Status Description
15 Feedback Mode Change (O)
The device supports the ability to change the Feedback Mode while in
the Running state without generating large motion disturbances
(bumpless). An example of such a mode change would be to switch from
Load Feedback to Motor Feedback using an SSV instruction. If a
particular Feedback Mode change is not supported by the device, a
Configuration Fault will be generated.
16 Pass Bus Status (O)
The device supports passing Converter Status bits, Bus Up and AC Power
Loss, in the Control Status element of the C2D Connection's Axis Instance
header when configured for DC Bus Sharing. The states of these Bus
Status bits are determined by the controller based on the Bus Up and AC
Power Loss bits passed in the Axis Status element of the D2C
Connection's Cyclic Data of Converters or Drives (Bus Masters) that also
support the Pass Bus Status feature. If clear, the associated device does
not support Bus Up and AC Power Loss bits in the C2D Connection.
Furthermore, if clear, the Bus Up and AC Power Loss status bits received
by the controller in the device's D2C connection are not passed on to any
other devices.
17 Pass Bus Unload (O)
The associated device is capable of generating a Bus Sharing exception
based on Bus Unload request bit passed in the Control Status element of
the C2D Connection's Axis Instance header. In this case, the controller
passes a Bus Unload request to the device if any Converter or Drive (Bus
Masters) in its Bus Sharing Group requests a Bus Unload. If clear, the
controller is responsible for generating a Bus Sharing exception for this
device axis in response to a Bus Unload request from any Converter or
Drive (Bus Masters) in its Bus Sharing group.
18 Ext. Speed for SPM (O)
The device supports extending the speed range of an SPM motor
through field weakening to speeds that require methods to protect
drives from destructive DC Bus Overvoltage conditions. To manage that
risk, the Extended Speed feature provides additional PM motor
attributes including a PM Motor Extended Speed Permissive attribute.
19 Ext. Speed for IPM (O)
The device supports extending the speed range of an IPM motor through
field weakening to speeds that require methods to protect drives from
destructive DC Bus Overvoltage conditions. To manage that risk, the
Extended Speed feature provides additional PM motor attributes
including a PM Motor Extended Speed Permissive attribute.
Axis configuration
Usage Access Data
Type
Default Min Max Value Description
Required - All Set/GSV USINT AOP* 0 5 Enumeration
0 = Feedback Only (O)
1 = Frequency Control (O)
2 = Position Loop (O)
3 = Velocity Loop (O)
4 = Torque Loop (O)
5 = Converter Only (O)
6...15 = Reserved
* The default value can be specified by the specific drive profile (AOP).
The axis configuration attribute determines the general dynamic control behavior
of the motion device axis instance.
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