Allen-Bradley ControlLogix Reference Manual

Table of contents
6 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Motion Control Axis Behavior Model ...............................................................................51
Active Control Axis Behavior Model .........................................................................52
Feedback Only Axis Behavior Model .........................................................................54
CIP Motion Converter Axis Behavior Model .........................................................56
Motor Attributes Model.................................................................................................57
Position Control Behavior .............................................................................................58
Position Feedback Selection ..................................................................................59
Position PI Gains ......................................................................................................60
Velocity Feedforward ..............................................................................................60
Position Loop Output Filters ...............................................................................61
State Behavior ....................................................................................................................61
Torque Control Behavior...............................................................................................71
Torque Input Sources .............................................................................................72
Inertia Compensation .............................................................................................73
Friction Compensation ..........................................................................................75
Torque filters .............................................................................................................77
Torque Limiter..........................................................................................................78
Torque to Current Scaling ....................................................................................78
Velocity Control Behavior .............................................................................................79
Closed Loop Velocity Control .............................................................................80
Open Loop Frequency Control ...........................................................................83
Chapter 3
Attribute Units ..........................................................................................................................90
CIP Data Types .........................................................................................................................91
Device Function Codes ...........................................................................................................91
Required vs. Optional Axis Attributes................................................................................93
Identify Motion Axis Attributes Based on Device Function Codes ..........................95
Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP
Network .................................................................................................................................... 111
Drive Supported Optional Attributes ............................................................................. 114
Kinetix 350 Drive Module Optional Attributes .................................................. 116
Kinetix 5500 Hardwired STO Drive Module Optional Attributes .............. 122
Kinetix 5500 Integrated STO Drive Module Optional Attributes ................ 130
Kinetix 5700 Safety Drive Module Optional Attributes ................................... 138
Kinetix 5700 Advanced Safety Drive Module Optional Attributes............... 147
Kinetix 6500 Drive Module Optional Attributes ................................................ 155
PowerFlex 527 Axis Instance Optional Attributes .............................................. 161
PowerFlex 755 Standard Drive Module Optional Attributes .......................... 168
PowerFlex 755 Safety Drive Module Optional Attributes................................ 174
MSG Instruction Access Only Attributes ...................................................................... 181
Interpret the Attribute
Tables

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)