Allen-Bradley ControlLogix Reference Manual

Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 5
Table of contents
Additional Resources ...............................................................................................................11
Legal Notices ..............................................................................................................................12
Chapter 1
Integrated Motion Axis Control Modes and Methods .................................................16
Control Modes ..................................................................................................................16
Position Control Mode ..........................................................................................17
Velocity Control Mode ..........................................................................................18
Torque Control Mode ............................................................................................20
No Control Mode ....................................................................................................21
Control Methods ..............................................................................................................21
Motion Instruction Compatibility ..............................................................................22
Chapter 2
Acceleration Control Behavior .............................................................................................25
Acceleration Limiter ........................................................................................................26
Load Observer ....................................................................................................................27
Command Generation Behavior ..........................................................................................28
Command Data Sources .................................................................................................29
Command Fine Interpolation ......................................................................................30
Command Ramp Generator..........................................................................................33
Feedforward Signal Selection ........................................................................................34
Command Notch Filter ..................................................................................................35
Current Control Behavior......................................................................................................35
Current Vector Limiter ..................................................................................................36
Voltage Output..................................................................................................................37
Current Feedback .............................................................................................................37
Motor Commutation ......................................................................................................38
Event Capture Behavior ..........................................................................................................38
Event Input Sources .........................................................................................................39
Event Latches .....................................................................................................................40
Event Time Stamps ..........................................................................................................40
Fault and Alarm Behavior.......................................................................................................41
Exceptions ...........................................................................................................................41
Absolute Position Recovery ...........................................................................................43
Absolute Position Loss without APR Faults ....................................................44
APR Fault Conditions ............................................................................................44
APR Fault Generation ............................................................................................45
APR Fault Examples ................................................................................................47
APR Recovery Scenarios.........................................................................................48
Reset an APR Fault ..................................................................................................50
Preface
Integrated Motion on the
EtherNet/IP Network
Behavior models used in CIP
Motion

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)