Rockwell Automation Publication 2198-UM001M-EN-P - November 2022 237
Appendix D Motor Control Feature Support
The Drive Parameters to Controller Mapping dialog box appears.
When using SLAT with Kinetix 5500 drives, the velocity command is sent to
the drive via an MAJ instruction. The torque command is sent via the cyclic
write TorqueTrim attribute. See the Integrated Motion on the EtherNet/IP
Network Reference Manual, publication MOTION-RM003
, for more
information on cyclic read and cyclic write.
For MAJ instructions:
• When using SLAT, start the axis with the MSO instruction.
• The VelocityCommand is sent via the MAJ instruction.
• The TorqueCommand is sent to AxisTag.TorqueTrim.
• To make changes to the VelocityCommand, you must retrigger the MAJ
with the Speed value or use an MCD (motion change dynamics)
instruction.
• To stop the axis, use an MAS instruction.
• The axis accelerates and decelerates at the MAJ instruction programmed
Acceleration and Deceleration rates.
• You can also change the rates using the MCD instruction.
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