318 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
The following table provides descriptions of the bit specified Axis feature attribute
values.
Bit Motion Status Description
0 Fine Interpolation (O)
Indicates that the axis supports fine interpolation of command data
based on command target time. Fine interpolation is used to provide
smoother command reference signals when the drive update period is
smaller than the controller update period.
1 Registration Auto-rearm (O)
Indicates that the axis supports the automatic re-arming mechanism for
registration inputs. This feature is required for windowed registration
support.
2 Alarm Log (O)
Indicates that this axis supports the Alarm Log feature. Alarm Log data is
received from the drive using the Alarm bit of the Status Data Set and
updates the Alarm Log of the controller.
3 Marker (O)
Indicates that the axis position feedback device supports a marker
function. This functionality is required for Homing Sequences that
employ the marker signal and for the marker Hookup Test.
4 Home Switch (O)
Indicates that the axis supports a home switch input. This functionality is
required for Homing Sequences that employ the home switch input
signal.
5 Hookup Test (O)
The axis supports a Hookup Test service. This service is required to
perform a Hookup Test (MRHD) to check wiring to the motor and
feedback components.
6 Commutation Test (O)
The axis supports a Commutation Test as part of the Hookup Test service.
This service is required to perform a Hookup Test (MRHD) to check
commutation wiring and determine the Commutation Offset.
7 Motor Test (O)
The axis supports a Motor Test service. This service is required to perform
a Motor Test (MRMT) to measure motor model parameters.
8 Inertia Test (O)
The axis supports an Inertia Test service. This service is used as part of the
Auto Tune (MRAT) that measures inertia.
9 Sensorless Control (O)
The axis supports sensorless control operation letting the drive run in
velocity loop mode without an external feedback device.
10 Drive Scaling (O)
The device supports Drive Scaling functionality where the device is able
to scale feedback counts to planner counts and manage absolute
position.
11 Extended Event Block (O)
The device supports the extended Event Data Block format. This format
supports additional features generally associated with Drive Scaling
functionality, such as Watch Position events and Windowed
Registration.
12 Integer Command Position (O)
The device requires Command Position Format to be a DINT (32-bit
signed integer) data type. If not set, the device supports the standard
LREAL (64-bit floating point) Command Position data type.
13 Ext. Motor Text (O)
The device supports the extended motor data format for the Motor Test
service. This format supports transfer of vendor specific motor
parameters and is required for the Motor Test service to support IPM
motors.
14 Control Mode Change (O)
The device supports changes to the Control Mode while in the Running
state without generating large motion disturbances (bumpless). An
example of such a mode change would be to switch from Position
Control to Torque Control using an SSV instruction. If a particular Control
Mode change is not supported by the device, a Configuration Fault will
be generated.
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