Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 439
Zero Speed Time
Usage Access Data
Type
Default Min Max Semantics of Values
Optional - D Set/SSV REAL 0 0 10
3
Sec
This attribute sets the amount of time that the axis speed must be below the zero
speed threshold, set by the Zero Speed attribute or established by the drive vendor,
before satisfying the zero speed criteria. In all but Category 2 stops, when this
attribute is set it results in action to engage the mechanical brake. If this attribute
is not supported, the amount of time needed to satisfy the zero speed criteria is left
to the vendor’s discretion and typically is immediate (0). Axis speed in the above
description is based on the Velocity Feedback signal, or in the case of a Frequency
Control drive, axis speed is based on Velocity Reference signal.
When supporting a Load Observer, the zero speed criteria is not based on the
Velocity Estimate since that signal can differ considerably from the actual speed of
the motor. When the Load Observer is configured to apply the Velocity Estimate
to the velocity loop summing junction as Velocity Feedback, the zero speed criteria
must be based on the velocity feedback signal input to the Load Observer.
Vertical Load Control
Usage Access Data
Type
Default Min Max Semantics of Values
Optional - FPV Set/GSV USINT 0 - - Enumeration:
0 = Disabled
1 = Enabled
2 - 255 = Reserved
This enumerated value allows the drive to tailor motor control behavior for
vertical load applications. When the Enabled enumeration is selected, the drive
attempts, whenever possible, to avoid applying Category 0 stop actions in response
to Major Fault conditions. The drive may tailor other aspects of its behavior to
best handle vertical loads.
Proving Configuration
Usage Access Data
Type
Default Min Max Semantics of Values
Optional - D Set/SSV USINT 0
FD
- - Enumeration:
0 = Disabled
1 = Enabled
2 - 255 = Reserved
This attribute enables the operation of the drive's Torque Proving and Brake
Proving functions that work in conjunction with mechanical brake control. When
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