Allen-Bradley Kinetix 5700 Reference Manual

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 241
Bit Usage Status Condition Description
22 Optional/
C
Position Control
Mode
When set, this bit indicates that axis position is being actively
controlled by the Position Loop. Position Control Mode is only
applicable when the axis is enabled and using the PI Vector
Control Method. The "Position Control Mode" status bit is cleared
whenever the active Control Mode is changed from Position
Control to Velocity Control or Torque Control. This status bit is
clear if the drive axis is disabled.
23 Optional/
C
Velocity Control
Mode
When set, this bit indicates that axis velocity is being actively
controlled by the Velocity Loop. Velocity Control Mode is only
applicable when the drive axis is enabled and using the PI Vector
Control Method. The "Velocity Control Mode" status bit is cleared
whenever the active Control Mode is changed from Velocity
Control to Position Control or Torque Control. This status bit is
clear if the drive axis is disabled.
24 Optional/
C
Torque Control
Mode
When set, this bit indicates that axis velocity is being actively
controlled by the Torque (Current) Loop. Torque Control Mode is
only applicable when the drive axis is enabled and using the PI
Vector Control Method. The "Torque Control Mode" status bit is
cleared whenever the active Control Mode is changed from
Torque Control to Position Control or Velocity Control. This status
bit is clear if the drive axis is disabled.
25-31 - Reserved -
The naming convention for individual bits within the CIP Axis Status attributes is
to append a 'Status' suffix to the CIP Axis Status condition. This table lists the
resulting CIP Axis Status tags associated with the above status conditions.
Bit Tag
0 LocalControlStatus
1 AlarmStatus
2 DCBusUpStatus
3 PowerStructureEnabledStatus
4 MotorFluxUpStatus
5 TrackingCommandStatus
6 PositionLockStatus
7 VelocityLockStatus
8 VelocityStandstillStatus
9 VelocityThresholdStatus
10 VelocityLimitStatus
11 AccelerationLimitStatus
12 DecelerationLimitStatus
13 TorqueThresholdStatus
14 TorqueLimitStatus
15 CurrentLimitStatus
16 ThermalLimitStatus
17 FeedbackIntegrityStatus
18 ShutdownStatus

Allen-Bradley Kinetix 5700 Specifications

General

Brand	Allen-Bradley
Model	Kinetix 5700
Category	Servo Drives
Language	English