226 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Velocity Limit - Negative
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - FPV Set/SSV
REAL 0
FD
- 0 Velocity Units
The Velocity Limit - Negative attribute is a negative value that defines the most
negative velocity reference value allowed into the velocity summing junction. If
the signal entering the velocity limiter exceeds this velocity limit value, the device
responds by clamping the velocity reference to this limit and sets the Velocity
Limit status bit.
Slat Configuration
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - V SSV
BYTE - - - 0 = SLAT Disabled
1 = SLAT Min
Speed/Torque
2 = SLAT Max
Speed/Torque
The Slat Configuration attribute configures the Speed Limited Adjustable Torque
feature. The SLAT Configuration enumeration determines how the drive controls
torque for this axis instance. In order to support applications that require Speed
Limited Adjustable Torque (SLAT) control, the Min/Max torque control
enumerations provide a feature to automatically switch to and from speed control
under certain conditions. In either SLAT mode the drive will operate in one of
two min/max states - speed control off or on.
Bit Name Description
0 SLAT Disabled SLAT function is disabled. Normal Velocity Loop operation.
1 SLAT Min Speed/Torque
Drive will automatically switch from torque control to speed control if
Velocity Error < 0 and switch back to torque control if Velocity Error >
SLAT Setpoint for SLAT Time.
2 SLAT Max Speed/Torque
Drive will automatically switch from torque control to speed control if
Velocity Error > 0 and switch back to torque control if Velocity Error <
-SLAT Set Point for SLAT Time
SLAT Set Point
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - V Set/SSV
REAL - - - Velocity Units
Speed Error level to switch from Speed control to Min/ Max control.
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