Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 255
Motor Control Feature Support Appendix D
The Drive Parameters to Controller Mapping dialog box appears.
When using SLAT with Kinetix 5500 drives, the velocity command is sent to
the drive via an MAJ instruction. The torque command is sent via the cyclic
write TorqueTrim attribute. See the Integrated Motion on the EtherNet/IP
Network Reference Manual, publication MOTION-RM003
, for more
information on cyclic read and cyclic write.
For MAJ instructions:
• When using SLAT, start the axis with the MSO instruction.
• The VelocityCommand is sent via the MAJ instruction.
• The TorqueCommand is sent to AxisTag.TorqueTrim.
• To make changes to the VelocityCommand, you must re-trigger the
MAJ with the Speed value or use a MCD (motion change dynamics)
instruction.
• To stop the axis use a MAS instruction.
• The axis accelerates and decelerates at the MAJ instruction programmed
Acceleration and Deceleration rates.
• You can also change the rates using the MCD instruction.
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