384 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
ID Access Rule Signal Attribute Name
601 Get Output Current
602 Get Output Voltage
603 Get Output Power
Motion Polarity can also have an impact on directional position, velocity,
acceleration, and torque limit attributes. When the Motion Scaling Configuration
is set to Drive Scaling, inverting Motion Polarity requires that positive and
negative position, velocity, acceleration*, and torque limit values be both sign
inverted and swapped between the CIP Motion Connection interface and the
drive's internal control structure.
When the Motion Scaling Configuration is set to Controller Scaling, inverting
Motion Polarity requires that positive and negative position, velocity, acceleration,
and torque limit attribute values in Motion Control Axis Object be inverted and
swapped with the corresponding attributes in the Motion Device Axis Object. For
example entering a "Velocity Limit – Positive" value in the controller of 100
revs/sec would result in a "Velocity Limit – Negative" value of -100 revs/sec in the
drive device.
A comprehensive list of these Directional Limit Attributes and their access rules is
defined in the following table:
ID Access Rule Attribute Name
374 Set Ramp Velocity - Positive
375 Set Ramp Velocity - Negative
376 Set Ramp Acceleration
377 Set Ramp Deceleration
448 Set Position Limit - Positive
449 Set Position Limit - Negative
473 Set Velocity Limit - Positive
474 Set Velocity Limit - Negative
485 Set Acceleration Limit*
486 Set Deceleration Limit*
504 Set Torque Limit - Positive
505 Set Torque Limit - Negative
* Acceleration and Deceleration Limits are unsigned positive values and, therefore, do not need to be sign inverted.
Position Units
Usage Access Data Type Default Min Max Semantics of Values
Required - All Set STRING
"Position
Units"
- - "Revs"
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