Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 227
Appendix C Motor Control Feature Support
Ramp Attributes
The MDS instruction is validated if the Integrated Motion on EtherNet/IP
drive device supports the following five ramp attributes:
• RampAcceleration
• RampDeceleration
• RampVelocity - Positive
• RampVelocity - Negative
•RampJerk - Control
Table 102 - Ramp Attributes
IMPORTANT Ramp attributes are available only when the Kinetix 5300 drive axis
configuration is set to Frequency Control or Velocity Loop. Ramp attributes
are not available when the axis configuration is set to Torque Loop or
Position Loop.
Ramp Attribute Access ID Description
RampVelocity - Positive Set 374
Ramp Velocity - Positive attribute is a positive value that defines the maximum positive velocity command output
of the Ramp Generator.
RampVelocity - Negative Set 375
Ramp Velocity - Negative attribute is a negative value that defines the maximum negative velocity command
output of the Ramp Generator.
RampAcceleration Set 376
The Ramp Acceleration attribute is a positive value that defines the maximum acceleration (increasing speed) of
the velocity command output by the Ramp Generator.
RampDeceleration Set 377
The Ramp Deceleration attribute is a positive value that defines the maximum deceleration (decreasing speed) of
the velocity command output by the Ramp Generator.
RampJerk - Control Set 379
The Ramp Jerk Control attribute sets the percentage of acceleration or deceleration time that is applied to the
speed ramp as jerk limited S-Curve based on a step change in velocity. The S-Curve time is added half at the
beginning and half at the end of the ramp. A value of 0 results in no S-Curve, for example, a linear acceleration or
deceleration ramp. A value of 100% results in a triangular acceleration profile with the peak being the configured
ramp acceleration or deceleration. As the Jerk Control value increases, the derived accelerating jerk value
decreases based on the following: 0.5 • 0.01 • Jerk Control • Ramp Vel Positive/Ramp Accel. The decelerating Jerk
limit value also decreases according to the following: 0.5 • 0.01 • Jerk Control • Ramp Vel Negative/Ramp Decel.
IMPORTANT The Ramp attributes can be viewed and set with only an SSV or GSV
instruction.
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