Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 303
Multiple feedback device interfaces are currently defined by the Motion Control
Axis per axis to serve specific control or master feedback functions. These feedback
devices are accessed using their assigned logical channels, for example, Feedback 1
and Feedback 2. Each logical feedback channel is mapped to a physical feedback
interface port of the device, for example Port 1, and Port 2.
Logical Feedback Channel Control Functions
Logical Feedback Channel Motion Control Function Master Feedback Function
Feedback 1 Motor Feedback and Commutation Master Feedback 1
Feedback 2 Load-side Feedback Master Feedback 2
Feedback 3 Vendor Specific Vendor Specific
Feedback 4 Vendor Specific Vendor Specific
Feedback 3 (Rockwell
Automation)
Redundant Motor Feedback Redundant Master Feedback 1
Feedback 4 (Rockwell
Automation)
Redundant Load-side Feedback Redundant Master Feedback 2
When the Control Mode is set to something other than No Control, Feedback 1
is associated with the motor mounted feedback device while Feedback 2 is
associated with the load-side or machine mounted feedback device. Feedback 1 is
always required for PM Motor commutation.
When Control Mode is set to No Control for a Motion Control Axis, different
logical feedback channels can be used as the master feedback source, for example,
Feedback 1 and Feedback 2. Generally, Feedback 1 is used.
For Rockwell Automation devices Feedback 3 is used to provide a redundant
logical feedback channel for Feedback 1 while Feedback 4 is used to provide a
redundant logical channel for Feedback 2.
To minimize the length of the feedback attribute tables below, the letter n in the
generic Feedback n attribute name is used to specify the associated feedback
channel number. Valid channel numbers for open standard feedback attributes of
the Motion Control Axis are 1, 2, 3 and 4.
Attribute IDs are assigned based on the channel number. Support for feedback
interface channels 1, 2, 3 and 4 are optional in the device implementation. If no
feedback interface channel is present in the device the associated set of feedback
channel attributes are not applicable.
However, if hardware support for any of these feedback channels is available in a
given device, these attributes are clearly applicable in the implementation and will
follow the Usage rules. A Usage rule of 'Req - E' or 'Opt - E' indicates that the
attribute is generally applicable to all Device Control Codes where the feedback
channel itself is applicable, hence the 'E' for Encoder.
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