Motion Error Codes, faults, and attributes
600 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
ServoLoopConfiguration INT GSV/SSV G11/Configuration
Determines the specific configuration of the servo loop topology when the
AxisType is set to servo. When AxisType is set to feedback only, it is used to select
the feedback port. It also established several advanced drive configuration
attributes that are part of the SERCOS interface standard.
Value: Meaning:
0 custom
1 feedback only
2 aux. feedback only
3 position servo
4 aux. position servo
5 dual position servo
6 dual command servo
7 aux. dual command servo
8 velocity servo
9 torque servo
ServoOutputLevel REAL GSV G9/Status
The current voltage level of the servo output of the specified axis. This attribute
can be used in a drilling application to detect when the drill bit has engaged the
surface of the work piece.
ServoPolarityBits DINT GSV/SSV G9/Configuration
Bit Bit Name Meaning
0 FeedbackPolarityNegative This controls the polarity of the
encoder feedback and ensures
that when the axis moves in the
user defined positive direction
that the Actual Position value
increases. This bit is configured
automatically using the MRHD and
MAHD instructions.
1 ServoPolarityNegative This controls the polarity servo
output to the drive. It ensures that
the axis servo loop is closed as a
negative feedback system and not
an unstable positive feedback
system. It is configured
automatically using the MRHD and
MAHD instructions
2-31 Reserved
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