242 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Bit Tag
19 InProcessStatus
20 DCBusUnloadStatus
21 ACPowerLossStatus
22 PositionControlMode
23 VelocityControlMode
24 TorqueControlMode
CIP Axis Status - RA
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - All GSV T DINT - - - Enumeration
0 = Torque Notch Filter
Frequency Detected
1 = Torque Notch Filter Tuning
Unsuccessful
2 = Torque Notch Filter Multiple
Frequencies
3 = Torque Notch Filter
Frequency Below Limit
4 = Torque Notch Filter
Frequency Above Limit
5 = Adaptive Tune Gain
Stabilization Active
6 - 31 = Reserved
The CIP Axis Status attribute is a 32-bit collection of Rockwell Automation
specific bits indicating various internal status conditions of the motion axis. Any
status bits that are not applicable are set to 0.
CIP Axis Status- RA Status Bit Descriptions
Bit Usage Status Condition Description
0 Optional/
C
Torque Notch Filter Frequency
Detected
This bit is set when the Adaptive Tuning function
has detected a resonance frequency between the
Torque Notch Filter Low Frequency Limit and the
Torque Notch Filter High Frequency Limit with
magnitude above the Toque Notch Filter Tuning
Threshold. Otherwise, the bit is clear.
This bit is cleared by the Adaptive Tuning function
when the Axis state transitions to the Running
state.
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