Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 429
Appendix F 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
IMPORTANT
Ramp attributes are available only when the Kinetix 5700 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.
Table 207 - Ramp Attributes
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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