Motion Error Codes, faults, and attributes
604 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Torque Threshold 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.
TuneAcceleration REAL GSV G11/Status
Returns the measured acceleration value from the last run MRAT instruction. This
value is used to calculate the Tune Inertia value of the axis and are used by a
subsequent MAAT instruction for the tune value for the MaximumAcceleration
attribute.
TuneAccelerationTime REAL GSV G11/Status
The acceleration time in seconds measured during the last run MRAT instruction.
This value is used in calculating the TuneAcceleration attribute.
TuneDeceleration REAL GSV G11/Status
Returns the measured deceleration value from the last run MRAT instruction. This
value is used to calculate the Tune Inertia value of the axis and are used by a
subsequent MAAT instruction for the tune value for the MaximumDeceleration
attribute.
TuneDecelerationTime REAL GSV G11/Status
The deceleration time in seconds measured during the last run MRAT instruction.
This value is used in calculating the TuneDeceleration attribute.
TuneInertia REAL GSV G11/Status
The TuneInertia value represents the total inertia of the axis as calculated from
the measurements made during the last MRAT instruction. The value is shown in
terms of percent of full-scale servo output per MegaCounts/Sec2 of feedback
input.
TuneRiseTime REAL GSV G9/Status
The axis rise time in seconds measured during the last run MRAT instruction. This
value only applies to axes that you configure to work with an external velocity
servo drive. This value is used to calculate the TuneVelocityBandwidth.
TuneSpeedScaling REAL GSV G9/Status
The axis drive scaling factor measured during the last executed MRAT instruction.
It applies only to axes configured to interface with an external velocity servo drive.
This value is applied to the VelocityScaling attribute by a subsequent MAAT
instruction.
TuneStatus INT GSV G11/Status
Returns the status of the last run MRAT instruction that initiates a tuning process
on the targeted servo/SERCOS module axis. The following values apply to the
status of the MRAT instruction:
Value: Meaning:
0 tune process successful
1 tuning in progress
2 tune process aborted by user
3 tune exceeded 2-second time-out
4 tune process failed due to servo/drive fault
5 axis reached Tuning Travel Limit
6 axis polarity set incorrectly
7 tune measurement fault (ServoDrive)
7 tune configuration fault (ServoDrive)
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