Motion Error Codes, faults, and attributes
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 603
TorqueDataScalling INT GSV G10/Configuration
This advanced scaling attribute maps directly to the SERCOS IDNs. It is
automatically configured to the appropriate default. It is read-only.
TorqueDataScalingFactor INT GSV G10/Configuration
This advanced scaling attribute maps directly to the SERCOS IDNs. It is
automatically configured to the appropriate default. It is read-only.
TorqueFeedback DINT GSV G10/Status
The torque feedback value when operating in torque mode.
TorqueLimitBipolar REAL GSV G10/Configuration
Maps directly to the SERCOS IDNs and is automatically configured to reasonable
default values. Manipulation is not needed unless motivated by a specific
application requirement.
TorqueLimitNegative REAL GSV/SSV G10/Configuration
Maps directly to the SERCOS IDNs and is automatically configured to reasonable
default values. Manipulation is not needed unless motivated by a specific
application requirement.
TorqueLimitPositive REAL GSV/SSV G10/Configuration
Maps directly to the SERCOS IDNs and is automatically configured to reasonable
default values. Manipulation is not needed unless motivated by a specific
application requirement.
TorqueLimitSource DINT GSV G10/Status
It displays the present source (if any) of any torque limiting the axis. The values
are:
Value: Meaning:
0 Not Limited
1 Neg. Torque Limit
2 Pos. Torque Limit
3 Amp Peak Limit
4 Amp I(t) Limit
5 Bus Regulator Limit
6 Bipolar Torque Limit
7 Motor Peak Limit
8 Motor I(t) Limit
9 Voltage Limit
TorqueOffset REAL GSV/SSV G11/Configuration
It is used to provide a dynamic torque command correction to the output of the
velocity servo loop. It can be tied into custom outer control loop algorithms using
Function Block programming.
TorquePolarity INT GSV G10/Configuration
It maps directly to the SERCOS IDN. It is automatically set based on the current
Drive Polarity Settings. All command bits are set according to the Command
polarity bit value and all feedback bits are set according to the Feedback Polarity
bit setting.
TorqueScaling REAL GSV/SSV G11/Configuration
Used to convert the acceleration of the servo loop into equivalent % rated torque
to the motor. It has the effect of normalizing the units of the servo loop gain
parameters so their values are not affected by variations in feedback resolution,
drive scaling, motor and load inertia, and mechanical gear ratios. The
TorqueScaling value represents the inertia of the system and is related to the
TuneInertia attribute value by a factor of the Conversion Constant. It is normally
established by the MAAT instruction as part of the controller’s automatic tuning
procedure, but it can be manually calculated:
TorqueScaling = 100 % Rated Torque / (Acceleration @ 100 % Rated Torque)
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