Allen-Bradley ControlLogix - Default Chapter; Table of Contents

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