Integrated Motion on the EtherNet/IP Network (MOTION-RM003O-EN-P

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Supercedes Publication MOTION-RM003N-EN-P - November 2022

Original Instructions

Reference Manual

Integrated Motion on the

EtherNet/IP Network

ControlLogix, CompactLogix, Compact GuardLogix,

GuardLogix, Kinetix 350, Kinetix 5300, Kinetix 5500,

Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755

Integrated Motion on the EtherNet/IP Network

2 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and

operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize

themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to

be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be

impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use

or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and

requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for

actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software

described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is

prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING:

Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to

personal injury or death, property damage, or economic loss.

ATTENTION:

Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT

Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD:

Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous

temperatures.

ARC FLASH HAZARD:

Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will

cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for

Personal Protective Equipment (PPE).

Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in

alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to

find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our

content while we implement these changes.

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 3

Summary of changes

This manual contains new and updated information.

Use these reference tables to locate new or changed information.

Grammatical and editorial style changes are not included in this summary.

Global changes

This table identifies changes that apply to all information about a subject in

the manual and the reason for the change. For example, the addition of new

supported hardware, a software design change, or additional reference

material would result in changes to all of the topics that deal with that subject.

None for this release.

New or enhanced features

This table contains a list of topics changed in this version, the reason for the

change, and a link to the topic that contains the changed information.

Topic Name

Reason

Identify Motion Axis Attributes Based on Device Function

Codes on page 112

Updated Motor Test Flux Saturation, PM Motor Inductance,

Motor Lq Inductance, PM Motor Ld Inductance.

Added Motor Voltage Feedback Source, Motor Voltage

Feedback Offset Mode, Motor Voltage Feedback Threshold,

Motor Voltage Feedback Offset Limit, Slip Compensation

Enable, AC Line Sync Kp, AC Line Sync Ki, AC Line Sync

Configuration, AC Line Resonance Damping Gain, Converter

Disable Delay, Bus Voltage Droop Control Mode, Bus Voltage

Droop Gain Full Load, Bus Voltage Droop Gain No Load, Bus

Voltage Droop Transition Current, Bus Voltage Droop

Minimum Bus Voltage, DBC Mode, DBC Low Voltage

Threshold, DBC High Voltage Threshold, DBC Nominal

Voltage Threshold, DBC Motoring Nominal Power Limit, DBC

Regenerative Nominal Power Limit, DBC Motoring Minimum

Power Limit, DBC Regenerative Minimum Power Limit, AC

Line Voltage Low Pass Filter Bandwidth, Converter Current

Power Feedforward, Converter Inverter Motor Power Limit

Min, Converter Inverter Regen Power Limit Max, and

Converter Input Phase Loss Threshold.

Motion Control Modes on page 18

Added information about Axis Test Mode.

Position Control Mode on page 20 Added information about Axis Test Mode.

Motion Instruction Compatibility on page 25 Added information about Axis Test Mode.

Event Input Sources on page 45 Added information about Axis Test Mode.

Fault and Alarm Behavior on page 47 Added information about Axis Test Mode.

Exceptions on page 48

Added information about Axis Test Mode.

Absolute Position Recovery on page 50

Added information about Axis Test Mode.

Non-regen Converter Axis Behavior on page 67

Added information about Axis Test Mode.

State Behavior on page 74

Added information about Axis Test Mode.

Summary of changes

4 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Topic Name

Reason

Identify attributes from codes on page 112 Added information about Axis Test Mode.

CIP Axis Status Attributes on page 373

Added information about Axis Test Mode.

Drive Commissioning and Tuning Attributes on page 421

Added information about Axis Test Mode.

Hookup Test Result Attributes on page 430

Added information about Axis Test Mode.

Motion Control Config Attributes on page 528

Added information about Axis Test Mode.

Motion Control Interface Attributes on page 537

Added information about Axis Test Mode.

Motion Control Signal Attributes on page 546

Added information about Axis Test Mode.

Motion Control Status Attributes on page 558

Added information about Axis Test Mode.

Axis Safety Status Attributes on page 641 Added information about Axis Test Mode.

Start Inhibits Attributes on page 695

Added information about Axis Test Mode.

Axis Test Mode Attributes on page 729

Added information about Axis Test Mode.

Axis Test Mode Config Attributes on page 729

Added information about Axis Test Mode.

Converter Control Mode Attributes on page 731

Added information about Axis Test Mode.

Module Config Block Attributes on page 773

Added information about Axis Test Mode.

Motion Control Interface Attributes on page 537

Updated Group Instance and Axis Update Schedule.

Motion Control Status Attributes on page 558 Updated Axis Status Bits and the Axis Status Bits table (Axis

Update Status row).

Motion Scaling Attributes on page 598 Updated the Signal Attribute Names for 1402 + o, 1403 + o,

1404 + o, 2380 + o, 2381 + o, 2382 + o, 2383 + o, 2384 + o,

and 2385 + o. Added Slip Compensation Enable.

General Perm Magnet Motor Attributes on page 268 Updated PM Motor Inductance, PM Motor Lq Inductance,

and PM Motor Ld Inductance.

Command Gen Config Attributes on page 268 Updated Ramp Velocity - Positive, Ramp Velocity -

Negative, and Flying Start Method

Torque/Force Control Config Attrib on page 316 Updated Friction Compensation Sliding, Friction

Compensation Static, Friction Compensation Breakaway

Time, Friction Compensation Hysteresis, Friction

Compensation Viscous, Friction Compensation Method,

Adaptive Tuning configuration.

Added Motor Voltage Feedback Source, Motor Voltage

Feedback Offset Mode, Motor Voltage Feedback Threshold,

and Motor Voltage Feedback Offset Limit.

Frequency Control Config Attributes on page 301 Added Slip Compensation Enable

Updated Break Voltage, Break Frequency,Start Boost, Run

Boost, Sensorless Vector Economy Accel Decel Kp,

Sensorless Vector Economy Accel Decel Ki, Sensorless

Vector Economy At Speed Ki, Sensorless Vector Boost Filter

Bandwidth

Stopping and Braking Attributes on page 674

Updated AC Injection Brake Regulator Ki

Converter AC Line Config Attributes on page 719 Added AC Line Sync kp, AC line Sync Ki, AC Line Sync

Configuration, and AC Line Resonance Damping Gain.

Converter Control Mode Attributes on page 731 Updated the Semantics of Values for Converter Startup

Method.

Added Converter Disable Delay.

Rockwell Automation Specific Axis Exceptions on page 766

Added Excessive Motor Voltage Feedback Offset, and AC

Line Phase Reversal.

Rockwell Automation Specific CIP Axis Fault Names on page

770

Added Excessive Motor Voltage Feedback Offset Fault.

Summary of changes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 5

Topic Name

Reason

Rockwell Automation Specific CIP Axis Alarm Names on

page 771

Added Excessive Motor Voltage Feedback Offset Alarm.

Standard Initialization Faults on page 487

Renamed the title from the Exception to Fault.

Rockwell Automation Specific Initialization Faults on page

488

Renamed the title from the Exception to Fault.

Standard Start Inhibits on page 697 Added Invalid Slip Speed, Bus Input Overcurrent Inhibit, and

Invalid Slip Speed Inhibit.

Motor Test Result Attributes on page 440

Added Motor Test Flux Saturation.

AC Line Condition Attributes on page 724

Added Converter Input Phase Loss Threshold.

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 7

Table of Contents

Studio 5000 environment ..........................................................................13

Additional Resources ..................................................................................13

Legal Notices .............................................................................................. 15

Chapter 1

Axis Test Mode ............................................................................................17

Integrated Motion Axis Control Modes and Methods ............................ 18

Motion Control Modes......................................................................... 18

Position Control Mode ................................................................. 20

Velocity Control Mode ................................................................... 21

Torque Control Mode ....................................................................23

No Control Mode ...........................................................................23

Motion Control Methods .................................................................... 24

Motion Instruction Compatibility ..................................................... 25

Chapter 2

Acceleration Control Behavior ...................................................................31

Acceleration Limiter ............................................................................ 32

Load Observer ....................................................................................... 33

Command Generation Behavior ............................................................... 34

Command Data Sources ...................................................................... 35

Command Fine Interpolation ............................................................. 36

Command Ramp Generator ................................................................ 39

Feedforward Signal Selection ............................................................ 40

Command Notch Filter ........................................................................ 41

Current Control Behavior .......................................................................... 41

Current Vector Limiter ....................................................................... 42

Voltage Output ..................................................................................... 43

Current Feedback ................................................................................. 43

Motor Commutation ............................................................................ 43

Event Capture Behavior .............................................................................44

Event Input Sources ............................................................................. 45

Event Latches ....................................................................................... 46

Event Time Stamps .............................................................................. 47

Fault and Alarm Behavior .......................................................................... 47

Exceptions ........................................................................................... 48

Absolute Position Recovery ................................................................ 50

Abs Position Loss wo APR Faults ................................................. 52

APR Fault Conditions ................................................................... 52

APR Fault Generation .................................................................... 53

APR Fault Examples ....................................................................... 55

Summary of changes

Preface

Integrated Motion on the

EtherNet/IP Network

Behavior models used in CIP

Motion

Table of Contents

8 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

APR Recovery Scenarios ................................................................56

Reset an APR Fault ........................................................................ 60

Motion Control Axis Behavior Model ...................................................... 60

Active Control Axis Behavior Model ................................................... 61

Feedback Only Axis Behavior Model ...................................................65

Non-regen Converter Axis Behavior ................................................... 67

Motor Attributes Model ...................................................................... 69

Position Control Behavior ................................................................... 71

Position Feedback Selection ......................................................... 71

Position PI Gains .......................................................................... 72

Velocity Feedforward .................................................................... 72

Position Loop Output Filters ......................................................... 73

State Behavior ...................................................................................... 74

Torque Control Behavior .................................................................... 85

Torque Input Sources ................................................................... 86

Inertia Compensation .................................................................. 86

Friction Compensation ................................................................ 89

Torque filters .................................................................................. 91

Torque Limiter .............................................................................. 92

Torque to Current Scaling ............................................................. 93

Velocity Control Behavior .................................................................... 93

Closed Loop Velocity Control ........................................................95

Open Loop Frequency Control ..................................................... 98

Chapter 3

Attribute Units ......................................................................................... 106

CIP Data Types ......................................................................................... 107

Device Function Codes ............................................................................ 107

Required vs Optional Axis Attributes ..................................................... 109

Identify attributes from codes ................................................................ 112

Attribute Conversion from SERCOS to Integrated Motion on the

Ethernet/IP Network ............................................................................... 133

Drive Supported Optional Attributes ..................................................... 136

Kinetix 350 Drive Module Optional Attributes ................................ 138

Kinetix 5500 Hardwired STO Drive Module Optional Attributes .. 145

Kinetix 5500 Integrated STO Drive Module Optional Attributes ... 152

Kinetix 5700 Safety Drive Module Optional Attributes .................. 160

Kinetix 5700 Advanced Safety Drive Module Optional Attributes . 168

Kinetix 5700 CIP Safety (EtherNet/IP) Module Optional Attributes

............................................................................................................. 176

Kinetix 5700 CIP Advanced Safety (EtherNet/IP) Module Optional

Attributes ............................................................................................ 186

Interpret the Attribute Tables

Table of Contents

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 9

Kinetix 5700 Regenerative Bus Supply Module Optional Attributes

............................................................................................................. 196

Kinetix 6500 Drive Module Optional Attributes ............................. 207

PowerFlex 527 Axis Instance Optional Attributes............................ 213

PowerFlex 755 Standard Drive Module Optional Attributes ........... 219

PowerFlex 755 High Power, Standard Drive Module Optional

Attributes ........................................................................................... 225

PowerFlex 755 Low Power, Non-Network Safety Drive Module

Optional Attributes ............................................................................ 231

PowerFlex 755 High Power, Non-Network Safety Drive Module

Optional Attributes ............................................................................ 237

PowerFlex 755 Low and High Power, STO Only Network Safety

Drive Module Optional Attributes .................................................... 243

PowerFlex 755 Low and High Power, Advanced Safety Network

Safety Drive Module Optional Attributes ........................................ 250

MSG Instruction Access Only Attributes ................................................ 257

Chapter 4

Control Mode Attributes ......................................................................... 264

Acceleration Control Attributes ........................................................ 264

Accel Control Config Attributes ........................................................ 265

Command Ref Generation Attributes ............................................. 268

Command Gen Config Attributes ............................................. 268

Command Generator Signal Attributes .....................................272

Current Control Config Attributes .................................................. 284

Current Control Signal Attributes .................................................... 291

Frequency Control Config Attributes ............................................... 301

Frequency Control Signal Attribute ................................................ 308

Position Loop Signal Attributes ....................................................... 309

Position Loop Config Attributes ....................................................... 312

Torque/Force Control Config Attrib ................................................. 316

Motor Adaptation Attributes ............................................................. 345

Torque/Force Control Signal Attrib .................................................. 349

Velocity Loop Config Attributes ........................................................ 351

Velocity Loop Signal Attributes ......................................................... 358

Data Attributes ......................................................................................... 363

Axis Info Attributes ............................................................................ 363

Frequency Analysis Attributes .......................................................... 366

Data Logging Attributes .................................................................... 368

Axis Statistical Attributes .................................................................. 372

CIP Axis Status Attributes ................................................................. 373

Event Capture Attributes ................................................................... 391

CIP Axis Attributes

Table of Contents

10 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Drive Attributes ........................................................................................ 395

Drive Output Attributes ..................................................................... 395

Drive General Purpose I/O Attributes .............................................. 397

Power - Thermal Mgmnt Config Attrib ........................................... 406

Power - Thermal Mgmnt Status Attrib ............................................ 407

Drive Commissioning and Tuning Attributes ....................................... 421

Auto-Tune Configuration Attributes ................................................ 421

Hookup Test Configuration Attributes ........................................... 429

Hookup Test Result Attributes ......................................................... 430

Inertia Test Config Attributes ........................................................... 433

Inertia Test Result Attributes ............................................................ 436

Motor Test Result Attributes ............................................................ 440

Motor Test Configuration Attributes ............................................... 445

Faults and Alarms Attributes ................................................................... 447

APR Fault Attributes .......................................................................... 447

Axis Exception Action Config Attrib ................................................ 450

Axis Exception Action .................................................................. 454

Configuration Fault Attributes ......................................................... 459

CIP Error Codes ........................................................................... 459

Exception Factory Limit Info Attrib ................................................. 466

Exception User Limit Config Attrib .................................................. 474

Axis Exception, Fault, Alarm Attrib .................................................. 481

Initialization Faults Attributes ........................................................ 486

Standard Initialization Faults ..................................................... 487

Rockwell Automation Specific Initialization Faults ................ 488

Module/Node Fault Alarm Attributes ............................................... 491

Fault Log Attributes ........................................................................... 497

Feedback Attributes ................................................................................ 506

Feedback Interface Types ................................................................. 506

Feedback Configuration Attributes ................................................. 508

General Feedback Info Attributes ..................................................... 524

General Feedback Signal Attributes ................................................. 524

Motion Control Attributes ....................................................................... 527

Motion Control Config Attributes ................................................... 528

Motion Control Interface Attributes ................................................ 537

Motion Control Signal Attributes ..................................................... 546

Motion Control Status Attributes ..................................................... 558

Motion Database Storage Attributes ................................................ 569

Motion Dynamic Config Attributes .................................................. 575

Motion Homing Config Attributes ................................................... 578

Motion Planner Config Attributes ................................................... 590

Motion Planner Output Attributes ................................................... 597

Table of Contents

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 11

Motion Scaling Attributes .................................................................598

Motion Resolution Value Examples ........................................... 611

Motor Attributes ....................................................................................... 613

General Linear Motor Attributes ...................................................... 613

General Motor Attributes .................................................................. 615

General Perm Magnet Motor Attributes ......................................... 622

General Rotary Motor Attributes ...................................................... 625

Induction Motor Attributes .............................................................. 628

Linear PM Motor Attributes ............................................................. 630

Interior Perm Magnet Motor Attrib ................................................. 633

Load Transmission-Actuator Attrib .................................................. 636

Rotary PM Motor Attributes .............................................................. 638

Safety Attributes ....................................................................................... 641

Axis Safety Status Attributes ............................................................. 641

Guard Safety Attributes ..................................................................... 659

Guard Safety Status Attributes ........................................................ 660

Drive Safety Attributes ...................................................................... 667

Stopping and Braking Attributes ............................................................ 674

Stopping Sequences .......................................................................... 690

Proving Operational Sequences ........................................................ 693

Start Inhibits Attributes .................................................................... 695

Standard Start Inhibits ............................................................... 697

Rockwell Automation Specific Start Inhibits ........................... 698

DC Bus Condition Attributes ................................................................. 700

Converter AC Line Input Attributes ........................................................ 712

Converter AC Line Monitor Attributes ............................................. 712

Converter AC Line Config Attributes ............................................... 719

Convert AC Line Source Config Attrib .............................................722

AC Line Condition Attributes ............................................................ 724

Structural Vibration Attributes ......................................................... 727

Axis Test Mode Attributes ........................................................................ 729

Axis Test Mode Config Attributes ..................................................... 729

Converter Control Attributes ..................................................................730

Converter Types .................................................................................730

Converter Control Mode Attributes.................................................. 731

Convert BusVolt ControlConfig Attrib ............................................. 735

ConvertBus VoltControl Signal Attrib ............................................. 740

Converter Current Ref Config Attrib................................................ 743

Converter Current Ref Signal Attrib ................................................ 745

ConvertCurrent Control Config Attrib............................................. 746

ConvertCurrent Control Signal Attrib ............................................. 748

Converter ReactivePowerControlAttrib ........................................... 755

Table of Contents

12 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Converter Output Attributes ............................................................. 756

Exceptions ................................................................................................. 757

Standard Axis Exceptions .................................................................. 757

Stndrd CIP Axis Fault - Alarm Names ........................................... 762

Rockwell Automation Specific Axis Exceptions .............................. 766

Rockwell Automation Specific CIP Axis Fault Names .....................770

Rockwell Automation Specific CIP Axis Alarm Names ................... 771

Chapter 5

Module Config Block Attributes ............................................................. 773

Module Class Attributes .......................................................................... 775

Module Axis Attributes ............................................................................ 777

Module Feedback Port Attributes ........................................................... 796

Module Timing Attributes ....................................................................... 797

Module Support Parameters .................................................................. 800

Module Configuration Attributes

Index

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 13

Preface

Use this manual to review descriptions of the AXIS_CIP_DRIVE attributes

and the Studio 5000 Logix Designer® application Control Modes and

Methods.

It is intended for use as a reference when programming motion applications.

The Studio 5000 Automation Engineering & Design Environment® combines

engineering and design elements into a common environment. The first

element is the Studio 5000 Logix Designer® application. The Logix Designer

application is the rebranding of RSLogix 5000® software and will continue to

be the product to program Logix 5000™ controllers for discrete, process,

batch, motion, safety, and drive-based solutions.

The Studio 5000® environment is the foundation for the future of

Rockwell Automation® engineering design tools and capabilities. The Studio

5000 environment is the one place for design engineers to develop all

elements of their control system.

Use the following resources to get additional information concerning related

products and technologies:

Publication Title

Description

CompactLogix™ 5370 Controllers User Manual,

publication 1769-UM021

Describes the necessary tasks to install, configure,

program, and operate a CompactLogix 5370 controller.

ControlLogix® System User Manual, publication

1756-UM001

Describes the necessary tasks to install, configure,

program, and operate a ControlLogix system.

EtherNet/IP Network Configuration User Manual,

publication ENET-UM001

Describes Ethernet network considerations, networks,

and setting IP addresses.

Integrated Architecture® and CIP Sync Configuration

Application Technique, publication IA-AT003

Provides detailed configuration information on CIP

Sync Technology and time synchronization.

Integrated Motion on the EtherNet/IP Network

Configuration and Startup User Manual, publication

MOTION-UM003

Describes how to configure an integrated motion

application and to start up your motion solution by

using the ControlLogix system.

Studio 5000 environment

Additional Resources

Preface

14 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Publication Title

Description

Kinetix® 6200 and Kinetix 6500 Modular Mutli-axis

Servo Drives User Manual, publication 2094-UM002

Provides information on how to install, configure, and

troubleshoot applications for your Kinetix 6200 and

Kinetix 6500 servo drive systems.

Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring

Safety Reference Manual, publication 2094-RM001

Provides information on wiring, configuring, and

troubleshooting the safe-speed features of your

Kinetix 6200 and Kinetix 6500 drives.

Kinetix 6200 and Kinetix 6500 Safe Torque Off Safety

Reference Manual, publication 2094-RM002

Provides information on wiring, configuring, and

troubleshooting the safe torque-off features of your

Kinetix 6200 and Kinetix 6500 drives.

Kinetix 5500 Servo Drives User Manual, publication

2198-UM001

Provides information on install, configure, and

troubleshoot applications for your Kinetix 5500 drive.

Kinetix 5700 Servo Drives User Manual, publication

2198-UM002

Provides information on install, configure, and

troubleshoot applications for your Kinetix 5700 drive.

Kinetix 350 Single-axis EtherNet/IP Servo Drives User

Manual, publication 2097-UM002

Provides information on install, configure, and

troubleshoot applications for your Kinetix 350

Single-axis EtherNet/IP Servo drive.

Kinetix Safe-off Feature Safety Reference Manual,

publication GMC-RM002

Provides information on wiring and troubleshooting

your Kinetix 6000 and Kinetix 7000 servo drives with

the safe torque-off feature.

Logix5000™ Motion Controllers Motion Instructions

Manual, publication MOTION-RM002

Provides a programmer with details about motion

instructions for motion control.

Logix5000 Controllers Common Procedures,

publication 1756-PM001

Provides detailed and comprehensive information

about how to program a Logix5000 controller.

Logix5000 Controllers General Instructions Reference

Manual, publication 1756-RM003

Provides a programmer with details about general

instructions for a Logix-based controller.

Logix5000 Controllers Advanced Process Control and

Drives Instructions Reference Manual, publication

1756-RM006

Provides a programmer with details about process and

drives instructions for a Logix-based controller.

Motion Coordinate System User Manual, publication

MOTION-UM002

Provides details on how to create and configure a

coordinate motion system.

PowerFlex® 527 Adjustable Frequency AC Drive User

Manual, publication 520-UM002

Provides information that is needed to install, start-up,

and troubleshoot PowerFlex 527-Series Adjustable

Frequency AC drives.

PowerFlex 750-Series AC Drives Programming Manual,

publication 750-PM001

Provides information that is needed to install, start-up,

and troubleshoot PowerFlex 750-Series Adjustable

Frequency AC drives.

PowerFlex 755 Drive Embedded EtherNet/IP Adapter

User Manual, publication 750COM-UM001

Provides information on how to install, configure, and

troubleshoot applications for the PowerFlex 755 Drive

Embedded EtherNet/IP adapter.

Industrial Automation Wiring and Grounding

Guidelines, publication 1770-4.1

Provides general guidelines for installing a Rockwell

Automation® industrial system.

Rockwell Automation® Product Certifications Provides declarations of conformity, certificates, and

other certification details.

ODVA™ specifications ODVA, is the organization that supports network

technologies that are built on the Common Industrial

Protocol (CIP) — DeviceNet, EtherNet/IP, CompoNet,

and ControlNet.

You can view or download publications at

http://www.rockwellautomation.com/literature. To order paper copies of

technical documentation, contact your local Rockwell Automation distributor

or sales representative.

Preface

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 15

Rockwell Automation publishes legal notices, such as privacy policies, license

agreements, trademark disclosures, and other terms and conditions on the

Legal Notices page of the Rockwell Automation website.

Software and Cloud Services Agreement

Review and accept the Rockwell Automation Software and Cloud Services

Agreement here.

Open Source Licenses

The software included in this product contains copyrighted software that is

licensed under one or more open source licenses. Copies of those licenses are

included with the software. Corresponding Source code for open source

packages included in this product are located at their respective web site(s).

Alternately, obtain complete Corresponding Source code by contacting

Rockwell Automation via the Contact form on the Rockwell Automation

website:

http://www.rockwellautomation.com/global/about-us/contact/contact.page

Please include "Open Source" as part of the request text.

A full list of all open source software used in this product and their

corresponding licenses can be found in the OPENSOURCE folder. The default

installed location of these licenses is

C:\Program Files (x86)\Common

Files\Rockwell\Help\<Product Name>\Release

Notes\OPENSOURCE\index.htm

Legal Notices

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 17

Chapter 1

Integrated Motion on the EtherNet/IP Network

Use this manual to review reference descriptions of the AXIS_CIP_DRIVE

attributes, Axis Test Mode attributes, and the Studio 5000 Logix Designer®

application Control Modes and Methods.

Review Axis Test Mode on page 17.

Review Motion Control Modes on page 18 for a reference for the Motion

Control Modes and Motion Control Methods that explains when you can use

an axis attribute in an individual control mode.

To learn about how the different control modes function with attributes

review the diagrams provided in Behavior models used in CIP Motion on page

31.

The Control Modes table lists the Motion Axis Attributes specific to the CIP

Drive data type. The table identifies the attribute implementation rule as

either Required, Optional, or Conditional. Drive replicated attributes are

identified also.

Review the Interpret the Attribute Tables on page 103 section for an

explanation of how the data for the attributes are organized.

CIP Axis Attributes cover a wide range of drive types. The CIP Axis Attributes

on page 261 topics contain:

• Detailed attribute definitions

• Configurations

• Status

• Faults

Each attribute is in a table that includes information about:

• Usage

• Access

• Data type

• Default, minimum, and maximum values

• Semantics of values

Attributes associated with components that are common to all axis instances

of a multi-axis CIP Motion device or module are detailed in Module

Configuration Attributes on page 773.

Use Axis Test Mode to develop and test application programs without a

controller-network connection to a set of physical CIP Motion drives, motors,

Axis Test Mode

Chapter 1 Integrated Motion on the EtherNet/IP Network

18 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

or machine components.

Perform development and testing without modifying the application

program’s motion instructions or motion-safety instructions that are

configured to execute on CIP axes. By enabling the Axis Test Mode and setting

the Axis Test Mode configuration, the same logic works on real hardware.

See Motion Control Modes on page 18, Behavior models used in CIP Motion

on page 31, Interpret the Attribute Tables on page 103, and CIP Axis Attributes

on page 261 for more information regarding limitations and nuances.

The Motion Control Axis Object covers the behavior of various motion control

system devices that includes feedback devices, drive devices, standalone

regenerative and non-regenerative converters, and motion I/O devices. For

drive devices, the Motion Control Axis Object covers a wide range of drive

types from simple variable frequency (V/Hz) drives, to sophisticated position

control servo drives, with or without integral converters. Many commercial

drive products have axes that can be configured with instructions to operate

in any one of these different motion control modes depending on the specific

application requirements.

Based on the variations in Motion Control Mode and Motion Control Method,

a set of basic Device Function Codes have been defined that help organize the

many attributes of the Motion Control Axis. Each attribute has a unique

identifier (ID).

See also

Motion Control Modes on page 18

Motion Control Methods on page 24

Motion Instruction Compatibility on page 25

Device Function Codes on page 107

Identify Motion Axis Attributes Based on Device Function Codes on

page 112

Motion control modes are organized around the general philosophy that

position control is the highest form of dynamic control. That is, position

control implies velocity control, and velocity control implies acceleration

control.

Acceleration is related to torque or force by the inertia or mass of the load;

respectively, acceleration control implies torque control. Because motor

torque or force is related to motor current by a torque or force constant,

respectively, torque control implies current control. The torque or force

Integrated Motion Axis

Control Modes and Methods

Motion Control Modes

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 19

constant can be a function of the motor magnets as in a Permanent Magnet

motor, or the induced flux of an Induction motor.

Because acceleration, torque/force, and current are related by a constant,

these terms are sometimes used interchangeably in the industry. For example,

a torque control loop rather than a current control loop. Motion Control Axis

Attributes let you differentiate between these control properties. This

attribute is useful when the relationship between them is not static, such as

when inertia/mass changes with position or time, or when the torque/force

constant changes due to temperature change or motor flux variation.

Control Modes

Control Mode

Axis Test Mode Support

(Test Mode Configuration)

B - Bus Power Converters (No Control Mode, No

Control Method)

Controller Loop Back: V35

(Enables Inverter Axes in an associated Bus Sharing Group

to transition to Running Sate. Simulates axis-state

transitions and status.)

E - Encoder, Feedback Only (No Control Mode, No

Control Method)

Controller Loop Back: V35

(Simulates axis-state transitions and status.)

P - Position Control Mode Controller Loop Back: V35

(Simulation tracks the Actual Position to the Command

Position with a simulated controller-drive interface delay.)

(Simulates axis-state transitions and status.)

Controller Loop Back: V36

(Simulation supports Motion Safety Instructions.)

V - Velocity Control Mode Controller Loop Back: V35

(Motion is not simulated in this Control Mode so actual

values do not change in response to changes in command

values.)

(Simulates axis-state transitions and status.)

T - Torque Control Mode Controller Loop Back: V35

(Motion is not simulated in this Control Mode so actual

values do not change in response to changes in command

values.)

(Simulates axis-state transitions and status.)

F - Velocity Control Mode Controller Loop Back: V35

(Motion is not simulated in this Control Mode so actual

values do not change in response to changes in command

values.)

(Simulates axis-state transitions and status.)

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20 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Motion Control Nomenclature

Linear and rotary control applications can affect the control nomenclature.

While rotary applications speak of torque and inertia, linear applications

speak of force and mass. When we refer to rotary nomenclature, the defined

behavior can generally be applied to linear applications by substituting the

terms, force for torque and mass for inertia. With that understanding, we use

torque rather than force in the control mode diagrams without loss of

generality.

See also

Position Control Mode on page 20

Velocity Control Mode on page 21

Torque Control Mode on page 23

No Control Mode on page 23

In Position Control application mode, either the application control program

(command execution function) or the motion planner (move trajectory

control function) provide a setpoint value to the CIP Motion device using the

cyclic data connection. The Position Control method can be either open loop

or closed loop.

Open Loop Position Control Method

A device configured for open loop position control applies to a class of drive

devices called stepper drives.

A feedback device for this configuration is optional. In the absence of a

feedback device, the drive estimates the actual position and returns it to the

controller.

Closed Loop Position Control Method

A motor control device configured for closed loop position control is

traditionally referred to as position loop drive or position servo drive. A

position servo drive implies an inner velocity and torque control loop as

Position Control Mode

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 21

shown in the diagram. The presence of the torque/current control loop

sometimes results in this kind of drive being referred to as a vector drive.

A feedback device for this configuration is required to achieve good

positioning accuracy. The feedback device can also be used to return Actual

Velocity and Actual Acceleration data to the controller using the cyclic data

connection.

In addition to Command Position, the controller can pass Command Velocity

and Command Acceleration for the purposes of forward control.

Physical Controller Connected to Drive Physical Controller with Axis Test Mode

(Test Mode Configuration: Controller Loop Back: V35)

Axis Test Mode

Axes with the Test Mode Enable attribute set to Enabled and that are

configured for Controller Loop Back simulate the drive in Position Loop

control mode.

See also

Motion Control Modes on page 18

In Velocity Control application mode, the application control program and

motion planner provide a setpoint value to the CIP Motion device using the

cyclic data connection. The velocity control method can be either open loop or

closed loop.

Open Loop Velocity Control Method

A motor control device configured for open loop velocity control is

traditionally referred to as Variable Frequency, or V/Hz, or VFD, drive.

Velocity Control Mode

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22 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

A feedback device for this configuration is optional. In the absence of a

feedback device, the drive estimates the actual velocity and returns it to the

controller.

Closed Loop Velocity Control Method

A motor control device configured for closed loop velocity control is

traditionally referred to as velocity loop drive or velocity servo drive. A closed

loop velocity control drive implies an inner torque/current control loop and

therefore is sometimes referred to as a vector drive.

A feedback device for the velocity loop drive configuration is optional. You can

achieve tighter speed regulation when using a feedback device, particularly at

low speed. When the feedback device is included, it may be used to return

actual position, velocity, and acceleration data to the controller using the

cyclic data connection. When the feedback device is not included, only the

estimated velocity can typically be returned to the controller.

In addition to Command Velocity, the controller can also pass Command

Acceleration for the purposes of forward control.

Acceleration Control Method

While not a mainstream control mode in the industry nor mentioned in the

IEC standard, the acceleration control mode is included here to complete the

dynamic progression from velocity control to torque control and because the

Motion Control Axis Object can support an Acceleration Command,

potentially derived from the controller's motion planner. In the acceleration

control mode, the application control program and motion planner provide

acceleration setpoint values to the CIP Motion device using the cyclic data

connection. The drive converts the acceleration set-point into a torque

command using the estimated system inertia. Acceleration control works in

concert with the inner torque/current control loop as shown in the diagram.

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 23

A feedback device for the acceleration control configuration is mandatory and

may be used to return actual position, velocity, and acceleration data to the

controller using the cyclic data connection.

See also

Motion Control Modes on page 18

In Torque Control application mode, the application control program or the

motion planner provide torque setpoint values to the device using the cyclic

data connection. Because motor current and motor torque are related by a

torque constant, Kt, torque control is often synonymous with current control.

A position feedback device for this control mode is optional. If a feedback

device is present, it can be used to return actual position, velocity, and

acceleration data to the controller using the cyclic data connection.

See also

Motion Control Modes on page 18

The Motion Control Axis Object supports a No Control application mode

where there is no dynamic motor control function. This mode is often used to

support Feedback Only or Master Feedback functionality where a feedback

channel in a CIP Motion Drive device is serving as a master feedback source to

the rest of the control system. This mode could also be applied to integrated

CIP Motion Encoder device types where the CIP Motion interface is applied

directly to an Encoder.

Torque Control Mode

No Control Mode

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24 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

In this No Control mode of operation, no command value is supplied to the

CIP Motion device using the cyclic data connection, but actual position,

velocity, and acceleration can be produced by the device to the controller

using the cyclic data channel, if applicable. The No Control mode for Feedback

Only functionality is illustrated in this diagram:

No Control (Feedback Only)

No Control mode also applies to other CIP Motion device types, such as

standalone Bus Power Converters and dedicated Motion I/O device types.

Since there is no feedback channel that is associated with these device types,

no actual position is returned to the controller.

See also

Motion Control Modes on page 18

Within this basic motion control paradigm, there is latitude for different

control methods, both closed loop and open loop. By closed loop, it is implied

that there is a feedback signal that is used to drive the actual dynamics of the

motor to match the commanded dynamics by the servo action.

In most cases, there is a literal feedback device to provide this signal, and in

some cases the signal is derived from the motor excitation, for example,

sensorless/encoderless operation.

By open loop, it is implied that there is no application of feedback to force the

actual dynamics to match the commanded dynamics. While precision and

performance are the hallmarks of closed loop control, simplicity and economy

are the hallmarks of open loop control.

The Control Method attribute is an 8-bit enumerated code that determines the

basic control algorithm. The device applies the algorithm to control the

dynamic behavior of the motor that is associated with an axis. The Control

Methods related to the Control Modes are listed in the following table.

Control Method Filed Enumeration Definitions

Enumeration

Usage

Name

Description

Motion Control Methods

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 25

Enumeration

Usage

Name

Description

0 R/N No Control No Control is associated with a Control Mode of No

Control where there is no explicit motor control that

is provided by the device for this axis instance.

1 R/F Frequency Control Frequency Control is an "open loop" control method

that applies voltage to the motor, generally in

proportion to the commanded frequency or speed.

This control method is associated with Variable

Frequency Drives (VFDs) or so called Volts/Hertz

drives.

2 R/C PI Vector Control PI Vector Control is a "closed loop" control method

that uses actual or estimated feedback for closed

loop cascaded PI control of motor dynamics, that is,

position, velocity, acceleration, and torque, and

always includes independent closed loop PI control

of Iq and Id components of the motor current

vector.

3...127 - Reserved -

128...255 - Vendor Specific -

Axis configuration

The Control Mode and Control Method are derived by the Axis Configuration

according to the following table.

Axis Configuration

Valid Control Modes

Non-Regenerative AC/DC Converter

No Control

Regenerative AC/DC Converter

No Control

Low Harmonic AC/DC Converter

No Control

DC/DC Converter No Control

Feedback Only No Control

Frequency Control Velocity Control

Position Loop Position Control

Velocity Control

Torque Control

Velocity Loop

Velocity Control

Torque Control

Torque Loop Torque Control

Itrack Section

No Control

See also

Motion Control Modes on page 18

The following table correlates the motion instructions with the compatible

control modes. The compatibility with integrated motion is based on the Axis

Configuration and feedback type settings. The motion instructions tables are

divided by type.

Motion Instruction

Compatibility

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26 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Use the following key to interpret the column entries:

Symbol

Meaning

Control mode is compatible.

MSO and MDS execution initiate mutually exclusive modes of operation and execution is

conditional on mode.

Axis may be used as a master axis reference only for this instruction.

Axis may conditionally use Motion Planner instructions if enabled with an MSO instruction;

otherwise, there is an error.

Supported in Controller Loop Back Configuration of Axis Test Mode.

Instruction provides an ideal response, executes successfully, and sequences as expected.

Support includes some error conditions. Corner-case scenarios that might not be possible for

axis with Axis Test Mode enabled setting must be modified to allow successful sequencing of the

program.

Not Supported in Controller Loop Back Configuration of Axis Test Mode.

Instructions that have specific error codes or do not complete.

Instructions that do not generate errors, complete, but do not perform the instruction function.

Instruction logic in the user program for axis with Axis Test Mode enabled setting must be

modified as Axis to allow sequencing of the program.

Shaded areas denote that Multi-Axis Coordination Motion is designed and tested for position

mode operation but not restricted to that axis configuration.

See also

Standard Exceptions on page 757

Interpret the Attribute Tables on page 103

While dynamic motor control through an acceleration command is not

common in the industry, Acceleration Control completes the dynamic

progression from Velocity Control to Torque Control. The output of the

velocity loop, Velocity Loop Output, also has units of acceleration. The sum

the contributions of the Acceleration Command, Acceleration Trim, and

Velocity Loop Output to form the Acceleration Reference signal that serves as

one of the primary inputs to Torque Control behavior. Acceleration Control

can optionally include a Load Observer to compensate for mechanical

backlash, mechanical compliance, and various load disturbances.

The following diagram provides an overview of the Acceleration Control

behavior model, including the Load Observer.

Acceleration Control

Behavior

Chapter 2 Behavior models used in CIP Motion

32 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Acceleration Limiter on page 32

Load Observer on page 33

The output of the acceleration command summing junction signal passes

through a limiter to produce the Acceleration Reference signal. The Accel

Limiter applies a directional acceleration limit, either the Acceleration Limit

or the Deceleration Limit, to the input command signal based on the sign of

the signal.

The following diagram illustrates this process.

See also

Load Observer on page 33

Acceleration Control Behavior on page 31

Acceleration Limiter

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 33

Acceleration Control can optionally include a Load Observer. Feeding the

Acceleration Reference into a Load Observer, along with the velocity feedback

signal, has been found to be effective in compensating for mechanical

backlash, mechanical compliance, and various load disturbances.

The Load Observer's effectiveness in this regard can be thought of as a result

of the observer adding virtual inertia to the motor. When the observer is

enabled, it functions as an inner feedback loop, like the current loop, but

unlike the current loop in that the observer's control loop includes the motor

mechanics.

Due to the work of the Load Observer, variations in load inertia, mass, and

even the motor's torque/force constant can be reduced as seen by the velocity

loop. In fact, because the Load Observer includes the Acceleration Reference

signal as an input, it can provide a velocity estimate signal that has less delay

than the velocity feedback estimate generated by the actual feedback device.

Thus, applying the Load Observer's velocity estimate to the velocity loop can

be used to improve the performance of the velocity loop.

Acceleration Feedback Selection

Feedback to the Load Observer can be derived from either Feedback 1 or

Feedback 2. The Feedback Mode governs which feedback source is used by the

loop. In general, the Load Observer works best when by using a

high-resolution-feedback device.

Acceleration and Torque Estimates

The output of the Load Observer is the Acceleration Estimate signal that is

subsequently applied to the acceleration reference summing junction. When

configured for Load Observer operation, the Acceleration Estimate signal

represents the error between the actual acceleration. The feedback device sees

the signal and the Load Observer estimates the acceleration, based on an ideal

model of the motor and load.

By subtracting the Acceleration Estimate signal from the output of the

Acceleration Limiter, the Load Observer is forcing the actual motor and load

to behave like the ideal model, as seen by the velocity loop. The Acceleration

Estimate signal can be seen as a dynamic measure of how much the actual

motor and load are deviating from the ideal model. Such deviations from the

ideal motor model can be modeled as torque disturbances. Scaling the Load

Observer Acceleration Estimate signal by the System Inertia results in the

Load Observer Torque Estimate signal. This signal represents an estimate of

the motor torque disturbance.

When configured for Acceleration Feedback operation, the Load Observer

Acceleration Estimate represents an acceleration feedback signal. Applying

Load Observer

Chapter 2 Behavior models used in CIP Motion

34 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

this signal to the acceleration reference summing junction forms a closed

acceleration loop. Scaling the Load Observer Acceleration Estimate signal by

the System Inertia results in the Load Observer Torque Estimate signal. This

signal represents an estimate of motor torque.

Load Observer Configuration

The Load Observer can be configured in a variety of ways using the Load

Observer Configuration attribute. Standard Load Observer function is

enabled by selecting the Load Observer Only.

In addition, the Load Observer's estimated velocity signal can be applied as

feedback to the velocity loop by selecting Load Observer with Velocity

Estimate or Velocity Estimate Only. Selecting Acceleration Feedback

degenerates the Load Observer to an acceleration feedback loop by

disconnecting the Acceleration Reference input from the observer. The

observer's velocity estimate is not available in this mode of operation.

See also

Acceleration Control Behavior on page 31

Torque Control Behavior on page 85

Velocity Control Behavior on page 93

Command Generation includes these behaviors:

• Command Data Sources

• Command Fine Interpolation

• Command Ramp Generator

• Feedforward Signal Selection

• Command Notch Filter

The following diagram illustrates the interaction command generation

behavior:

Command Generation

Behavior

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 35

See also

Command Data Sources on page 35

Command Fine Interpolation on page 36

Command Ramp Generator on page 39

Feedforward Signal Selection on page 40

Command Notch Filter on page 41

Command data that impacts axis motion can come from a variety of sources.

The most common command data source is from a controller-based Motion

Planner using the CIP Motion C-to-D Connection. In this context, command

data can take the form of Controller Position, Velocity, Acceleration, and

Torque Commands generated by the Motion Planner. The Command Data Set

attribute, which is based on the selected Control Mode, specifies the

command data elements. Higher-order command elements can augment the

primary command data element for the purposes of generating high quality

feedforward signals. Alternatively, the device can derive these higher-order

command elements from the primary command data. In either case, a Fine

Command Interpolator is applied to the Command Data to generate

command reference signals to the device's control structure at the device's

update rate.

Command Data Sources

Chapter 2 Behavior models used in CIP Motion

36 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Another source of command data is a local Motion Planner resident within the

device. The Motion Device Axis Object defines a rich set of features associated

with a devic- based Motion Planner. These features include support for

electronic gearing, camming, moves, and jogs. Through use of the CIP Motion

peer-to-peer connection, the gearing and camming functions can be directly

linked to a master axis command reference from a producing peer device for

high performance line-shafting applications. Alternatively, the master axis

command reference can be derived from a local motion axis instance. To

facilitate these features, the Motion Planner also supports the ability to

establish an absolute position reference to the machine through homing and

redefine position operations as well as perform rotary unwind functionality.

The CIP service request controls the device's Motion Planner.

The user sets the command data, such as the Controller Velocity Command. In

this context, the device must apply its own Ramp Generator function to

accelerate or decelerate smoothly the motor to the commanded velocity.

Both the Fine Command Interpolator and the Ramp Generator are functions

of the Command Generator blocks shown in the functional block diagram.

See also

Command Generation Behavior on page 34

For synchronized, high-performance applications using CIP Motion,

command data is received from the CIP Motion C-to-D Connection or the

device's local Motion Planner and based on the connection's Command Target

Update element being set to 'Interpolate', processed by the Fine Interpolator

functionality of the Command Generator.

The job of the Fine Interpolator is to compute coefficients to a trajectory

polynomial that is designed to reach the command data at its associated

Command Target Time. Depending on the specific command data element,

the trajectory can follow a first, second

or third order polynomial trajectory

with initial conditions based on current axis dynamics.

Because the polynomial is a function of time, a new fine command value can

be calculated anytime the CIP Motion device must perform a control

calculation. As a result, it is not necessary that the device's control calculation

period be integrally divisible into the Controller Update Period.

To improve device interchangeability, a minimum order for the fine

interpolators is recommended. Because contemporary Motion Planners

typically generate their trajectories based on third order polynomials in

position, it is important that the fine interpolators reproduce these

trajectories with high fidelity. Therefore, the position fine interpolator is

defined as third order, the velocity interpolator is second order, and the

Command Fine Interpolation

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 37

acceleration and torque interpolators are both first order. Higher-order fine

interpolators are possible and are left to the device vendor's discretion.

This table provides a reference to the polynomial equations:

Interpolator name

Equation

Position Fine Interpolation Polynomial

P(t) = a

+ a

* (t-t

) + a

* (t- t

)

+ a

* (t-t

)

Velocity Fine Interpolation Polynomial

V(t) = b

+ b

* (t-t

) + b

* (t- t

)

Acceleration Fine Interpolation

Polynomial

A(t) = c

+ c

* (t-t

)

Torque Fine Interpolation Polynomial

T(t) = d

+ d

* (t-t

)

In polynomial equations, time (t

), represents the Command Target Time for

the previous Motion Planner update such that when t = t

, the position (P),

velocity (V), acceleration (A), and torque (T) command values are equal to the

values sent in the previous Motion Planner update, for example, P

–1

, V

–1

, A

–1

and T

–1

. This establishes the 0

order coefficients of the polynomials.

• P(t

) = P

–1

= a

• V(t

) = V

–1

= b

• A(t

) = A

–1

= c

• T(t

) = T

–1

= d

The higher-order polynomial coefficients are calculated such that by the next

Motion Planner update, corresponding to Command Target Time, t

, the

position, velocity, acceleration, and torque command values are the values

sent in the latest Motion Planner update, for example, P

, V

, A

, and T

• P(t

) = P

• V(t

) = V

• A(t

) = A

• T(t

) = T

Using the preceding polynomial interpolation equations, the CIP Motion

device can compute position, velocity, acceleration, and torque command

values at any time by plugging in the current System Time value of the device

into the variable, allowing the device's control calculation to be performed

according to a schedule that is independent of the controller's update

schedule.

One thing that must be done, however, is to adjust the Command Target

Time, t

, if there is a shift in the System Time Offset for the device; t

and t are

always based on the same System Time reference system. For example,

assume the device's System Time Offset when the control command

time-stamp, t

, was received as Offset

. If the command interpolation

equation is to be applied at t= t

and the current System Time Offset is defined

as Offset

, then t

is adjusted as follows before executing the polynomial:

• Adjusted t

= t

+ (Offset

– Offset

)

Alternatively, the values for t, t

, and t

can be based on local time rather than

system time by using the current System Time Offset to convert between

Chapter 2 Behavior models used in CIP Motion

38 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

System Time to local time. This may be more convenient for the interpolator

implementation and is left to the device vendor's discretion.

The polynomial coefficients are computed based on standard formulas that

are a function of the history of command values over the last few updates. The

number of historical command values used in the formula depends on the

order of the polynomial. For example, the third order command position

polynomial uses the three previous command position values. For

convenience, the interpolator polynomial coefficient formulas are provided in

the following table:

Coefficient name Equations

Position Fine Interpolation Polynomial

Coefficients

= P

-1

= 1/T * (∆P

- 1/2*∆V

- 1/6*∆A

)

= 1/T

* (1/2*∆V

)

= 1/T

* (1/6*∆A

)

Velocity Fine Interpolation Polynomial

Coefficients

= V

-1

= 1/T * (V- 1/2*∆A

)

= 1/T

* (1/2*

∆

)

Acceleration Fine Interpolation

Polynomial Coefficients (Torque is the

same form as Accel)

= A

-1

= 1/T * ∆A

These equations are based on the following nomenclature:

T = Controller Update Period

∆P

= (P

- P

-1

)

∆V

= (V

- V

-1

) = (P

- 2P

-1

+ P

-2

)

∆A

= (A

- A

-1

) = (V

- 2V

-1

+ V

-2

) = (P

- 3P

-1

+ 3P

-2

- P

-3

)

The preceding polynomial coefficients should be applied to the fine

interpolator as soon possible after t is equal to or greater than t

. Applying the

new coefficients too early, for example, with less than t

, can create

unnecessary error in the command trajectory when connecting the last fine

interpolator segment to the new fine interpolator segment at t

When t > t

, the fine interpolation polynomial becomes an extrapolation

polynomial. In the absence of a fresh update from the Motion Planner, the

extrapolation polynomial can be used to provide estimated command data to

the device control structure until fresh Motion Planner command data is

available. Once fresh command data is made available, new polynomial

coefficients are computed and applied without delay. In this way, the motion

control can 'ride-through' occasionally late or with lost connection data

packets resulting in a robust distributed motion control network solution. To

be clear, late connection data is always applied and never thrown away; late

data still represents the freshest data available from the controller and the

extrapolation polynomial confirms that the command data is applied in such a

way as to maintain a smooth motion trajectory despite variations in

command data delivery.

When the update period of the Motion Planner is short enough relative to the

dynamics of the command trajectory, or is comparable to the device control

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 39

calculation period, fine interpolation may not be necessary. The Motion

Planner can make this determination by comparing the planner update period

to that of the device control calculation period. When fine interpolation is

used, the planner adds additional planner update periods to the planner time

stamp, so it is advantageous to eliminate this planner update period delay if

interpolation is not necessary.

Even though fine interpolation may not be necessary in some cases, it does

not mean that the command data is to be applied directly to the device's

control structure. It may be necessary to calculate the preceding polynomials

so the device can extrapolate the command value when the device's control

update occurs. In general, the device's control update time stamp does not

need to match the time stamp of the command data.

Finally, there are applications and CIP Motion device types that do not require

the dynamic accuracy that time-stamped interpolation and extrapolation

provide. Various velocity and Torque Control applications, for example, may

fall in this category. In general, command data can also be applied to the

control structures of Variable Frequency drives without interpolation or

extrapolation.

See also

Command Generation Behavior on page 34

When operating in Closed Loop Velocity mode, the Ramp Generator feature

of the Velocity Fine Command Generator block is applied to the Controller

Velocity Command value sent by the controller when the Command Target

Update element of the connection is set to ‘Immediate’ mode. In Immediate

mode, Command Data is applied immediately to the devices’ control structure

without fine interpolation or extrapolation. Since there is generally no motion

planner generating the Command Data in this mode, the Command Data

value from the controller can change drastically from one update to the next.

To address this condition, a Ramp Generator function must ramp the motor

to the new Controller Velocity Command Data value within the dynamic

limitations of the system. For example, if the Controller Velocity Command

value suddenly changed from 0 revolutions per second to 30 revolutions per

second in Immediate Mode, the Ramp Generator would produce a Fine

Velocity Command signal that accelerates the motor to the Controller Velocity

Command value based on the configured Ramp Acceleration and Jerk Control

attribute values. The Ramp Jerk Control attribute determines what percentage

of the acceleration or deceleration ramps is S-curve with the remaining

portion of the ramp governed by the fixed Ramp Acceleration or Deceleration

attribute values.

When operating in Closed Loop Velocity mode, the Ramp Generator feature of

the Velocity Fine Command Generator block allows the motor to ramp to zero

Command Ramp Generator

Chapter 2 Behavior models used in CIP Motion

40 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

speed, as part of a Ramped Decel stopping action, regardless of the value of

the Command Target Update element. Likewise, when operating in Closed

Loop Position mode, the Ramp Generator feature of the Position Fine

Command Generator block allows the motor to ramp to zero speed, as part of

a Ramped Decel stopping action, again regardless of the value of the

Command Target Update element. The configured Ramp Deceleration and

Jerk Control attribute values determine the deceleration ramp profile. The

Ramp Jerk Control attribute determines what percentage of the deceleration

ramp is S-curve with the remaining portion of the ramp governed by the fixed

Ramp Deceleration attribute value.

While a Ramp Generator function could be included in each of the Fine

Command Generator blocks for position, velocity, and acceleration

commands, this version of the Motion Device Axis Object specification only

supports a Ramp Generator in the Velocity Fine Command Generator block,

and in the Position Fine Command Generator block for the purposes of

applying a Ramped Decel stopping action in Position Control Mode.

The Ramp Generator enforces directional velocity limits on the Command

Data, so that the Velocity Command never exceeds the configured Maximum

Velocity Pos/Neg values.

In Velocity Control Mode, the Ramp Generator also supports Flying Start

functionality. When enabling the drive while the motor is still moving, the

Ramp Generator output is initialized to the current speed of the motor. From

there, the Ramp Generator smoothly accelerates or decelerates the motor to

the current Controller Velocity Command.

If the Command Target Update element of the connection is not set to

‘Immediate’, the Ramp Generator in the Velocity Fine Command Generator

block shall have no impact on the Fine Velocity Command signal.

When operating in Frequency Control mode, the Ramp Generator function is

integrated into the Frequency Control block diagram.

See also

Command Generation Behavior on page 34

The Fine Command Generators can generate higher derivatives of the

command data input to serve as feedforward signals. The units for the

velocity and acceleration feedforward signals are different than the derivative

units, hence the derivative signals are scaled appropriately. Motion Planner

trajectory generators provide excellent signal quality. The feedforward

selection blocks pick the best feedforward signal to apply based on the bits set

in the Command Data Set attribute. The best signal is defined as the signal

derived by using the fewest differencing operations.

Feedforward Signal

Selection

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 41

The Fine command position is applied directly to the Position Control loop

without any of the typical de-referencing and offsets. It is assumed that the

controller or device-based Motion Planner performs these operations.

Feedforward signals are only applicable for Closed Loop Position and Closed

Loop Velocity Control Modes.

See also

Command Generation Behavior on page 34

Position command and feedforward signals pass through one or more

command notch filters. These filters reduce the anti-resonance behavior of a

compliant motor load by filtering out any commanded motion around the

anti-resonance frequencies.

See also

Command Generation Behavior on page 34

In general, motor torque is controlled by controlling the orientation and

magnitude of the motor stator current vector with respect to the rotor

magnetic flux vector. The Current control loop is responsible for providing

this control and is composed of two PI loops, one that controls the torque

producing current, Iq, and one that controls the flux producing current, Id.

The quadrature component of current, Iq is used for dynamic Torque

Control.

With induction motors, the flux producing current, Id, is solely responsible

for generating a rotor flux. With permanent magnet motors, the rotor

magnets generate the rotor flux and Id is used only in some cases to extend

the speed range of the motor by changing the angle of the stator field relative

to the rotor field. In this case, the angle of Iq relative to the rotor field remains

the same, for example, at quadrature. However, because the vector

combination of Iq and Id determines the stator flux angle relative to the rotor,

increasing amounts of Id can shift the stator flux away from the quadrature

to extend the speed range of the motor at the expense of torque.

The following diagrams show an overview of this behavior model.

Command Notch Filter

Current Control Behavior

Chapter 2 Behavior models used in CIP Motion

42 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Current Vector Limiter on page 42

Voltage Output on page 43

Current Feedback on page 43

Motor Commutation on page 43

The Iq Current Command passes through a Current Vector Limiter before

becoming the Iq Current Reference signal. This limiter computes the

combined vector magnitude of the Iq Current Reference and the Id Current

Reference signals. The resultant current vector magnitude is compared to the

Operative Current Limit that represents the minimum current limit from

among a set of potential current limits of the drive device and motor.

If the vector magnitude exceeds the Operative Current Limit, the Iq Current

Reference is reduced so the vector magnitude equals the Operative Current

Limit. Potential current limit sources can be the Peak Current Limit ratings as

well as the Thermal Limits for the Motor and Drive Inverter. Another possible

limit source is the user-configurable Current Vector Limit attribute.

Some of these limits are conditional and dynamic, such as the Motor and

Inverter Thermal Current Limits derived from the thermal models for these

devices. These limits are active only when the corresponding Motor and

Current Vector Limiter

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 43

Inverter Overload Action attributes are set to provide current fold-back. The

thermal current limits in this case would decrease as the simulated

temperature of the modeled devices increases. The Bus Regulator Limit is

applied only when the motor is regenerating power onto the DC Bus and is

based on the Regenerative Power Limit.

With all these potential current limit sources that could be operative, a

Current Limit Source attribute identifies the source of the active current limit.

See also

Current Control Behavior on page 41

The motor inductance scales the output of each current loop to generate a

voltage command to the vector transformation block. It is the job of the vector

transformation block to transform the torque producing, Vq, and flux

producing, Vd, command signals from the rotating synchronous reference

frame to the stationary stator reference frame. Pulse Width Modulation

(PWM) applies the resultant U, V, and W Output Voltage values to the motor.

The PWM Frequency is also a configurable attribute.

The magnitude of the Vq, Vd vector is calculated in real time as the total

Output Voltage signal. The maximum Output Voltage signal that can be

applied to the motor is ultimately limited by the DC Bus Voltage and enforced

by the Voltage Vector Limiter. Any attempt to exceed this value results in an

Inverter Voltage Limit condition.

See also

Current Control Behavior on page 41

Current feedback signals to the current loop are provided by two or three

current sensors. The signals from these sensors are conditioned and

corrected for device-specific offsets to become the U, V, and W Current

Feedback signals associated with the stationary motor stator frame. These

three signals are transformed back to the synchronous reference frame to

generate the Iq and Id Current Feedback signals. The magnitude of the Iq, Id

current vector is calculated in real-time and used as an input to the thermal

models for the inverter and motor.

See also

Current Control Behavior on page 41

Motor commutation is critical to closed loop motor control. The orientation of

the motor rotor can be determined from a feedback source mounted to the

motor. The actual commutation source is the motor feedback device assigned

Voltage Output

Current Feedback

Motor Commutation

Chapter 2 Behavior models used in CIP Motion

44 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

to Feedback 1 or, possibly, the redundant feedback channel assigned to

Feedback 1. Once the feedback device is calibrated to the absolute orientation

of the rotor by using the Commutation Offset attribute, the commutation

block can then generate the true Electrical Angle of the rotor. This signal is

used to perform the vector transforms between the rotary and stationary

motor frames and can also be used for any other algorithms that require

knowledge of rotor position.

See also

Current Control Behavior on page 41

Event capture behavior captures both the feedback position and time stamp

associated with specific state transitions of selected event input sources.

The following diagram provides an overview of the event capture behavior

model.

Event Capture Behavior

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 45

See also

Event Input Sources on page 45

Event Latches on page 46

Event Time Stamps on page 47

The Motion Device Axis Object defines a mechanism to capture both the

feedback position and time stamp associated with specific state transitions of

selected event input sources. Event input sources currently supported by the

object are:

• Registration 1

Event Input Sources

Chapter 2 Behavior models used in CIP Motion

46 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

• Registration 2

• Marker

• Home Switch.

These event input sources apply to each supported feedback channel.

Axis Test Mode

Axes with the Test Mode Enable attribute set to Enabled and that are

configured for Controller Loop Back do not simulate Motion events. As a

result, these event input sources are not supported.

• Registration 1

• Registration 2

• Marker

• Home Switch

See also

Event Capture Behavior on page 44

To facilitate accurate capture of both feedback position and time, hardware

event latches are typically implemented.

Two independent latches are defined for each registration input, one latch to

capture positive edge transition events and one to capture negative edge

transition events. This design enables capture of both registration events in

applications with narrow registration pulses where the rising and falling

edges occur nearly simultaneously.

In addition to the registration latches, a separate latch is also defined for the

home event capture. The home input event that triggers the Home Event

Latch can be any of a number of different combinations of home switch and

marker input events, for example, marker transitions, switch transitions, or

switch transitions followed by a marker transition.

With hardware-based event latches, event capture accuracy is, in general, only

limited by the latency of the associated event input. Registration and Marker

event inputs are lightly filtered so event capture accuracy is on the order of 1

microsecond (µsec). In terms of position capture accuracy that would be

calculated as the product of the event capture accuracy and the speed of the

axis. Home switch inputs are heavily filtered, in general, and therefore limited

to an event capture accuracy of 1 millisecond to 10 millisecond (msec). Thus, to

get an accurate position capture based on a home switch input transition, a

homing sequence with a slow homing speed is required.

Event Latches

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 47

See also

Event Capture Behavior on page 44

Because the registration time stamp is passed to the controller as part of the

Event Notification data, the controller can apply the event time stamp to the

position history of other axes in the system to interpolate their positions. This

process is useful in applications where it is necessary to determine the

location of several axes at the time of a single registration event. The more

accurate the time stamp, the more accurately the controller can determine

these positions.

See also

Event Capture Behavior on page 44

The fault and alarm handling functionality addresses both the need for a large

and ever-expanding number of specific faults and alarms, the need for

programmable actions, and the need for timely reporting of those faults and

alarms to the controller. Additionally, no compromises are made to restrict

the resolution of the reported faults and alarms, so that the controller always

has access to the unique axis condition and a meaningful diagnosis.

Numerous Fault and Alarm-related attributes can be included in the fixed

portion of the cyclic Device-to-Controller Connection so the controller can

monitor the condition of the axis in real time, without cumbersome polling.

The CIP Axis Status attribute contains bits to indicate whether an alarm

condition is present. The CIP Axis State enumeration indicates when the axis

has a major fault, which could be a regular runtime CIP Axis Fault, Safety

Fault, or an Initialization Fault. The Axis Fault Code and related attributes are

used to report the specific fault condition, time stamp, and fault action to the

controller for the purposes of building a fault log.

Axis Test Mode

Axis Test Mode Enabled axes using Controller Loopback do not support

Motion Device Axis Object Faults or Alarms. Faults that are within the

Controller scope can be generated.

See also

State Behavior on page 74

Exceptions on page 48

Absolute Position Recovery on page 50

Event Time Stamps

Fault and Alarm Behavior

Chapter 2 Behavior models used in CIP Motion

48 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

CIP Axis Status Attributes on page 373

Exception, Fault and Alarm Attributes on page 481

Exceptions are runtime conditions that the device continually checks that

might indicate improper behavior of the axis or operation outside of an

allowable range. An exception can result in an alarm, a minor fault, or a major

fault, depending on how the associated Axis Exception Action has been

configured – an exception can even be configured to be ignored. The device

clears exceptions when the underlying exception condition is no longer

present.

Axis Test Mode

Axis Test Mode Enabled axes using Controller Loopback do not simulate

controller-generated Axis Exceptions.

Exception Actions

For each exception, the motion axis can be programmed for a variety of

actions using the Exception Action attribute. Exception Actions range from

generating a major fault that results in the stopping of the axis all the way to

taking no action at all. The CIP Axis Faults attribute allows the controller to

have immediate access to any exceptions that have been configured to

generate a major or minor fault. The CIP Axis Alarms attribute allows the

controller to have immediate access to any exceptions that have been

configured to be reported as alarms.

Alarms

Alarms are runtime exception conditions for which the device is to take no

action other than to report as an alarm. Alarms and warnings, therefore, are

synonymous. On a given device product, some exception conditions may not

be able to be reported as an alarm without any associated action; for example,

an IPM fault in which the power module automatically shuts off without

software intervention. Alarm conditions are automatically cleared when the

underlying exception condition is no longer present.

Exceptions

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 49

Axis Test Mode

Axes with the Test Mode attribute set to Enabled and that are configured for

Controller Loop Back simulate these alarms.

Alarm

Description

Axis Test Mode Support

(Test Mode Configuration)

E - Encoder, Feedback Only (No Control Mode, No

Control Method)

P - Position Control Mode

V - Velocity Control Mode

T - Torque Control Mode

F - Velocity Control Mode

Axis Safety Alarms Safe Torque Off Alarm [P]: Controller Loop Back: V36

Faults

Faults can be initialization faults, configuration faults, safety faults, module

faults, group faults, motion faults, or runtime exception conditions that the

axis has been configured to regard as a fault. Fault conditions can occur in

either the controller or the motion device. If a runtime fault occurs during an

operational state, for example, Running or Testing, it will result in the device

stopping (or aborting) all axis motion, either automatically or

programmatically. Fault conditions ultimately transition the axis state to the

Faulted state. A Fault that results from an exception condition is latched, and

does not clear when the exception condition clears. A fault can only be cleared

with a Fault Reset. If the fault condition is classified as an 'unrecoverable

fault', only a power cycle or a device reset can clear the fault condition.

Axis Test Mode

Axes with the Test Mode attribute set to Enabled and that are configured for

Controller Loop Back simulate these faults.

Faults

Description

Axis Test Mode Support

(Test Mode Configuration)

E - Encoder, Feedback Only (No Control Mode, No

Control Method)

P - Position Control Mode

V - Velocity Control Mode

T - Torque Control Mode

F - Velocity Control Mode

Module Faults

[All]

Not supported

Configuration Faults

[All]

Not supported

Initialization Faults

[All]

Not supported

Chapter 2 Behavior models used in CIP Motion

50 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Faults

Description

Axis Test Mode Support

(Test Mode Configuration)

E - Encoder, Feedback Only (No Control Mode, No

Control Method)

P - Position Control Mode

V - Velocity Control Mode

T - Torque Control Mode

F - Velocity Control Mode

Group Faults

CST Loss, Clock Sync Fault [EFPVT]: Controller Loop Back: V35

Grp Task Loading Fault

[EFPVT]: Controller Loop Back: V35

Motion Faults

Soft Travel Limit Positive [P]: Controller Loop Back: V35

Soft Travel Limit Negative

[P]: Controller Loop Back: V35

Safety Faults

Safety Feedback Fault

[P]: Controller Loop Back: V36

SS1 Fault

[P]: Controller Loop Back: V36

SS2 Fault

[P]: Controller Loop Back: V36

SOS Fault

[P]: Controller Loop Back: V36

SBC Fault

[P]: Controller Loop Back: V36

SLS Fault [P]: Controller Loop Back: V36

SDI Fault

[P]: Controller Loop Back: V36

SLP Fault [P]: Controller Loop Back: V36

SFX Fault

[P]: Controller Loop Back: V36

APR Faults

[All]

Not supported

Device Faults

[All]

Not supported

Start Inhibit Behavior

A Start Inhibit is a condition that inhibits the axis from starting, that is,

transitioning to the Starting state for enabled axis operation. This condition

does not generate an exception if a start attempt is made. If the circumstances

that led to the Start Inhibit are no longer present, the device clears the start

inhibit condition, returning the axis to the Stopped State.

If the axis is in the Start Inhibit state, it indicates that one or more conditions

are present that helps prevent the axis from transitioning to enabled

operation. The Start Inhibits attribute reports the specific condition that is

inhibiting the axis.

See also

Motion Control Axis Behavior Model on page 60

State Behavior on page 74

Fault and Alarm Behavior on page 47

Absolute Position Recovery (APR) supports the establishing and maintaining

of absolute position referenced to a specific machine, commonly called the

machine referenced absolute position or just absolute position.

Absolute Position Recovery

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 51

A homing procedure that is initiated by successful execution of an MAH

instruction establishes Absolute position. Once the homing procedure has

successfully established a machine reference, the Axis Homed bit is set in the

Motion Status attribute, indicating that actual position and command

position now have meaning with respect to the associated machine.

It is good application programming practice to qualify dynamic machine

operation with the Axis Homed bit being set. Otherwise, absolute moves to a

specific position may not have any relationship to the position of the axis on

the actual machine.

Since the homing procedure usually requires the machine to be taken offline

and placed in a manual operating mode, for example, not making a product,

anything that would require you to rehome one or more axes on the machine

is undesirable. This is downtime and costs money. The APR feature maintains

the machine reference or absolute position through power cycles, program

downloads, and even firmware updates.

Axis Test Mode

Axes with the Test Mode attribute set to Enabled and that are configured for

Controller Loop Back do not execute Absolute Position Recovery.

Certain scenarios, such as power cycles or firmware downloads do not

generate APR-related faults. They do, however, clear, that is reset, the homed

status bit.

Absolute Feedback Device

The absolute feedback device lets absolute position be retained through a

power cycle. These devices take various forms, but they all can maintain

absolute feedback position while power to the drive and to the feedback device

is off.

When power is turned back on, the drive reads the feedback referenced

absolute position from the feedback device and, by applying a saved absolute

offset to this absolute feedback position, the motion control system can

recover the machine referenced absolute position.

Most drive products provide this capability. But what happens if the drive is

swapped out, or the drive firmware is updated? Absolute Position is lost.

CIP Motion lets you recover the absolute position not only through power

cycles, but also program downloads, and even firmware updates.

Chapter 2 Behavior models used in CIP Motion

52 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

SERCOS versus CIP

For a SERCOS axis with absolute feedback, the drive scaling function and

absolute position is maintained in the drive and therefore may be easily

restored in the control after a power cycle or download of a new project by

simply reading the position from the drive.

By contrast, a CIP Motion axis supports controller-based scaling where

absolute position is maintained in the controller’s firmware. Without the

work of the APR feature, absolute position would be lost after a power cycle or

project download.

See also

APR Fault Conditions on page 52

APR Fault Examples on page 55

APR Fault Generation on page 53

APR Fault Attributes on page 447

The Absolute Position Recovery is not retained after the following:

• A project is exported, saved as a .L5K or .L5X, and imported

(downloaded).

• A major non-recoverable fault (MNRF).

• A power loss.

• On a Control Logix 5570 controller without an ESM

Tip:

The APR can potentially be restored from a Secure Digital Card on a

ControlLogix 5570 Controller (if a 1756-ESM is not present).

• A download of an axis that does not have its home bit set.

• Power cycling of an incremental encoder.

See also

Absolute Position Recovery on page 50

APR Recovery Scenarios on page 56

APR Fault Examples on page 55

Absolute Position Recovery (APR) faults are generated during these events

and when one of the defined conditions occurs.

In order for an APR Fault to occur, the axis must be in the homed state. The

Axis Homed Status Bit must be set.

Abs Position Loss wo APR

Faults

APR Fault Conditions

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 53

Attribute Changes

A Motion Resolution or an Axis Feedback Polarity attribute has been changed

and downloaded to the controller. This situation can also happen during the

execution of an SSV.

Axis Feedback Changes

The feedback device has been replaced. This replacement creates a mismatch

with the Axis Feedback Serial Number.

Axis Feedback Mode has changed, for example, axis with feedback changed to

axis without feedback or vice versa and downloaded to the controller.

• A user program is downloaded.

• A user program and tags are restored from a CompactFlash card.

• Manual Restore

• Power up restore, when configured

• Firmware is updated using ControlFLASH.

• An SSV to change:

• Feedback Polarity

• One of the attributes, which results in a change to the Motion

Resolution attribute.

See also

APR Fault Generation on page 53

APR Fault Attributes on page 447

APR Faults can be generated:

• During initial axis configuration.

• During operation

• When the system fails to recover the absolute position after a power

cycle, reset, or a reconnection.

APR faults are detected during these online scenarios.

• Initial configuration (download)

• Reconnection of the drive axis

• Change in any of the axis attributes which impacts the absolute

machine position.

When an APR fault occurs, the actual position of the axis is set to the feedback

reference position of the axis. The values are read from the absolute encoder.

The axis homed status bit clears.

APR Fault Generation

Chapter 2 Behavior models used in CIP Motion

54 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

A download, restore from a CompactFlash card, a restore from a Secure

Digital Card, or a ControlFLASH firmware update after one of these events

causes the APR fault.

• Axis Configuration

• Attribute Changes

• Offline edits of the axis attributes or configuration do not cause an

APR fault until after download occurs.

• Online edits of certain attributes will result in an immediate APR

fault. Changing the axis feedback device or feedback polarity

without downloading the project will also generate an immediate

APR fault.

• Axis hardware change or malfunction

• Enabling certain axis features (for example, extended position

feedback) via drive firmware update.

• Axis hardware resource insufficiency

• Hardware resource insufficiencies are only detected during

download or ControlFLASH firmware update and will result in an

APR fault.

During axis configuration, the following checks are made:

1. Existing Axis?

2. Scaling Signature matches saved Scaling Signature?

3. Feedback Signature matches saved Feedback Signature?

If these three checks pass, absolute position is restored.

During operation, the system monitors the following conditions:

1. Feedback Integrity Status bit cleared?

2. Scaling Signature dependent attribute values changed by SSV?

Changes to the following attributes do not impact the Scaling Signature or

result in the loss of the absolute machine reference and therefore do not

generate an APR Fault.

• Conversion Constant

• Position Unwind

• Travel Mode

Care must be taken when changing these values so that the new values are

related to the Position Unit of the product and the mechanics of the system.

Value changing is typically done as part of a product recipe change.

If the Axis Homed status bit is clear, indicating that position has not been

referenced to the machine, the APR function is bypassed and there is no

attempt to restore absolute position.

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 55

See also

APR Fault Attributes on page 447

APR Fault Examples on page 55

Scaling

Changing the Scaling parameters can potentially generate an APR fault

because internal constants computed from these two parameters may

generate a motion resolution change.

Online Scaling

Any change or SSV message that results in a motion resolution change will

generate an APR fault.

APR Fault Examples

Chapter 2 Behavior models used in CIP Motion

56 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Resetting APR Faults on page 60

Absolute Position Loss without APR Faults on page 52

APR Recovery Scenarios on page 56

The following tables provide detailed information on when the APR feature

recovers absolute position. Consider these assumptions. In each of these

cases, the APR feature restores absolute position and preserves the state of the

Axis Homed bit, indicating that the axis has a machine referenced absolute

position.

• All relevant axes are CIP axes.

• Yes, machine reference is recovered (for Axes that have been homed).

• No, machine reference is not recovered (for Axes that have been

homed).

Scenario

Event

Machine Reference

Retained

Controller Battery

(1)

Yes

Controller Power Cycle with Battery Yes

Controller Removal/Insertion Under Power (RIUP) with Battery

(1)

Yes

Controller Firmware Update Yes

Controller update from Secure Digital card Yes

Swap two controllers with the same catalog numbers (Secure

Digital card also swapped).

Yes

APR Recovery Scenarios

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 57

Scenario

Event

Machine Reference

Retained

1. Axes are homed.

2. Project is saved to Secure Digital card.

3. Axes are moved and re-referenced.

4. System is restored from Secure Digital card.

The system absolute position is restored to re-referenced

positions and the Home bit remains set.

Yes

1. Axes are homed.

2. Project is saved to Secure Digital card.

3. Same Secure Digital card is used on machines 2, 3, 4, for

example.

4. Axes are homed on machines 2, 3, 4, for example, at different

positions.

5. System restore from Secure Digital card on each machine.

The system absolute position on each machine becomes

restored correctly at its respective position and the Home bit

remains set.

Yes

Change Controller (SD card not swapped) No

(2)

Change Controller without a Secure Digital card. No

Controller CompactFlash Update

Yes

Controller Swap (Same CF Card) Yes

Change controller

Change Controller without a CompactFlash Card

Controller Power Cycle without Battery

(1)

(3)

Controller Removal/Insertion Under Power (RIUP) without

Battery

(1)

Take the controllers out of two systems with a battery or energy

storage module and swap controller. There are no

CompactFlash or Secure Digital cards on either controller.

1. Controller remains powered.

2. Power cycle drives.

Change feedback device but not motor.

Axes are homed.

1. Project is saved to a Secure Digital card.

2. Memory becomes corrupt.

3. System restores from the Secure Digital card.

The system absolute position is lost, the axes must be rehomed,

and the Home bit is cleared.

(3)

Controller Power Cycle or Removal and Insertion Under Power

without a battery or energy storage module.

Controller and drives remained powered.

Hardware feedback failure on an axis.

Battery Backed Controller

User program running with an axis that is not homed.

Controller and

drives remained

powered

Disconnect and reconnect the Ethernet cable. Yes

Disconnect and reconnect the same feedback or motor cable

on an axis.

Yes

Inhibit or Uninhibit an axis or drive.

Yes

Chapter 2 Behavior models used in CIP Motion

58 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Scenario

Event

Machine Reference

Retained

Battery Backed

Controller

Save to a Secure Digital card

(2)

with a homed axis and you

initiate the restore.

Yes

RIUP controller.

Yes

Cycle power-on controller. Yes

Cycle power-on controller that is configured to restore the user

program from a Secure Digital card on power-up.

Yes

RAM memory becomes corrupt, and the user program is

restored from the Secure Digital card.

The machine must be referenced again because RAM memory is

corrupt. There is no way to retrieve the machine reference

positions from a memory card after machine memory becomes

corrupt.

(3)

User program running with a homed axis and you manually

restore the user program from a Secure Digital card.

If you reset the machine reference by using MAH or MRP after

storing the user program to a memory card, the MAH and MRP

changes are not lost. The APR is not restored to the reference

stored on the memory card. The APR is restored to the

reference stored in RAM.

Yes

Battery Backed Controller: Restore by taking the Secure Digital

card to another controller.

If the other controller has the same Axis ID and scaling

constants as the Secure Digital card and has homed axes, the

APR is not restored to the reference stored on the card. The APR

is restored to the reference stored in RAM.

The Axis ID attribute is automatically generated when you

create an axis in the Logix Designer application.

See the Axis ID attribute description in the Integrated Motion on

the EtherNet/IP network Reference Manual, publication

MOTION-RM003 for more information.

Yes

Change controller Transfer the Secure Digital card from the first controller to the

second with the following preconditions:

• Empty the second controller. There is no user program in the

second controller.

• The user program has been saved on a Secure Digital card

with CIP Motion axes homed.

Yes

Transfer the Secure Digital Card from the first controller to the

second with the following preconditions:

• The second controller has the same user program with the

controller being swapped.

• The second Controller has axes homed.

Yes

Same controller Reload the same user program from a Secure Digital card. This

scenario assumes that the axis is homed in RAM before reload.

Yes

Update controller firmware from Secure Digital card. Yes

Controller remains

powered or power

cycled with battery

and power cycle

drives

Change drive with same or different catalog number. Yes

Change motor but not feedback device.

Yes

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 59

Scenario

Event

Machine Reference

Retained

Download the same

program with no

hardware changes

Change the name of the axis. Yes

Download the same Studio 5000 Logix Designer to the

controller.

Yes

Save As with a different file name.

Yes

Partial Export and then import an axis.

Yes

Added application logic.

Yes

Download the Studio 5000 Logix Designer project of an existing

axis.

Yes

Add an axis. No for the new axis

Copy or cut and paste or drag and then drop axis into the same

project or another project.

No for the new or

pasted axis

Export and then import into the same or another project.

Save the project as an .ACD file to recover the absolute position.

There are changes to the axis scaling attributes. No

Position feedback The position feedback device was disconnected or

reconnected.

Yes

Feedback device

The position feedback device was disconnected or

reconnected.

Yes

The feedback device changed.

(3)

The position feedback device was swapped.

(3)

The position feedback device failed.

(3)

The position feedback polarity changed.

(3)

The Feedback mode changed.

(3)

Restore

Restore from Secure Digital card.

Yes

Inhibit or uninhibit

Inhibit or uninhibit an axis.

Yes

Inhibit or uninhibit an I/O module. Yes

Studio 5000 Logix

Designer project

Import or export the project download. Yes

Download the project download of a new or copied axis.

(4)

Drive

The drive cycled power with incremental feedback.

The drive firmware updated with incremental feedback.

Change the drive

Yes

Cycle power to the drive Yes

Cycle power to the drive with absolute feedback.

Yes

Change the motor if the motor does not contain a feedback

device.

Yes

The drive firmware was update with absolute feedback.

Yes

The drive was disconnected or reconnected.

Yes

The drive was inhibited or uninhibited. Yes

The drive was swapped with the same feedback.

Yes

Scaling Scaling signature has changed.

The scaling signature changed. This change includes

Transmission, Linear Actuator, Motion Resolution, and Motion

Unit attribute changes.

(3)

Chapter 2 Behavior models used in CIP Motion

60 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Scenario

Event

Machine Reference

Retained

(1)

The term Battery in this table assumes the ControlLogix 5560 or GuardLogix 5560 controller with a battery or a

ControlLogix 5570 controller and a 1756-ESMxxx Energy Storage Module. ControlLogix 5580, GuardLogix 5580,

CompactLogix™ 5380, and Compact GuardLogix 5380 controllers have embedded energy storage modules.

(2)

The controller cannot generate the fault because the data cannot be preserved.

(3)

When any of these conditions occur, the Axis Homed bit, if set, is cleared indicating that axis position is no

longer referenced to the machine. To flag the condition that the Axis Homed bit has been cleared and that the

machine referenced absolute position has been lost, an APR Fault is generated. This fault is recoverable and

can be cleared via any Fault Reset or Shutdown Reset instruction.

(4)

Not retained for the new or copied axis.

See also

APR Fault Examples on page 55

Absolute Position Loss without APR Faults on page 52

APR Fault Conditions on page 52

There are three ways to reset an APR Fault.

• Instruction Execution

Executing an MAFR

Executing an MGSR

Executing an MASR

Executing an MCSR

• From the Controller Organizer:

Clear the group fault, the Logix Designer application executes an

MGSR

Clear the axis fault, the application executes an MASR

• Downloading the same project a second time

See also

APR Fault Examples on page 55

APR Fault Conditions on page 52

APR Fault Generation on page 53

The Motion Control Axis Behavior Model is based on elements of the S88 and

Pack/ML standard state models. The CIP Axis State attribute indicates the

current state of the Motion Control Axis. State transitions can be initiated

either directly using the Axis Control request mechanism or by conditions

that occur in either the controller or the motion device during operation.

Review the diagram for the behavior model to see how the axis state maps to

identity object states.

Reset an APR Fault

Motion Control Axis

Behavior Model

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 61

• Active Control Axis Behavior Model on page 61

• Feedback Only Axis Behavior Model on page 65

• CIP Motion Converter Axis Behavior Model on page 67

• Motor Attributes Model on page 69

Fault Reset State Transition Precedence

When an axis is in the Major Faulted state, the axis may transition to one of

several different states in response to a Fault Reset event. Which state the axis

transitions to is dependent upon other state/status conditions of the axis.

It is possible for more than one state condition to be present at the same time,

for example. Shutdown, Start Inhibited, and so forth. Since the axis state

model can only represent one state at any given time, the state of the axis is

determined according to the following precedence:

1. Major Faulted

2. Shutdown

3. Pre-Charge

4. Start Inhibited

5. Stopped

See also

State Behavior on page 74

Fault and Alarm Behavior on page 47

Exceptions on page 48

The Motion Control Axis Object State Model is based on elements of the S88

and Pack/ML standard state models. The current state of the Motion Control

Axis Object instance is indicated by the CIP Axis State attribute (Attribute ID

= 650). State transitions can be initiated either directly using the Axis Control

request mechanism or by conditions that occur in either the controller or

motion device during operation.

The diagram shows the basic operating states of the Motion Control Axis

Object when actively controlling axis motion (Control Mode != No Control) or,

in the case of a regenerative converter (G), when actively controlling power, or

in the case of a track section (X), when actively controlling current for

resident movers. Shaded regions show mapping of Axis States to

corresponding Identity Object states. State transitions ending on shaded

boxes can transition to any axis state within the box.

Active Control Axis

Behavior Model

Chapter 2 Behavior models used in CIP Motion

62 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Tip:

* Specific Standby State after a Fault Reset is determined by applying the

Fault Reset State Transition Precedence Rules.

** When an axis is in the Stopped or Major Faulted states with Holding

torque (as a result of a Category 2 Stop), a Start Inhibit condition, Disable

Request, or Shutdown Request is used to execute the configured Stopping

Action.

Valid transitions for the Axis State Model are defined in the following table:

Current State

Event

Conditions

Next State

Off

Power Up

Self Test

Self Test Complete

Initializing

Initialization Fault

Major Faulted

Initializing

Initialization Complete

Pre-Charge

Shutdown

Major Fault

Major Faulted

Pre-Charge Shutdown Shutdown

Pre-Charge Major Fault Major Faulted

Pre-Charge Bus Up Stopped

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 63

Current State

Event

Conditions

Next State

Start Inhibited Shutdown Shutdown

Start Inhibited

Major Fault

Major Faulted

Start Inhibited

Inhibits Cleared

Stopped

Major Faulted Shutdown* Power Structure Enabled =

Aborting

Major Faulted Disable* Power Structure Enabled =

Aborting

Major Faulted Start Inhibit* Power Structure Enabled =

Aborting

Major Faulted

Fault Reset

Shutdown = 1

Shutdown

Major Faulted Fault Reset Shutdown = 0

DC Bus Up = 0

Pre-Charge

Major Faulted Fault Reset Shutdown = 0

DC Bus Up = 1

Start Inhibit > 0

Start Inhibited

Major Faulted Fault Reset Shutdown = 0

DC Bus Up = 1

Start Inhibit =0

Stopped

Major Faulted

Reconnection

Initializing

Stopped Shutdown* Power Structure Enabled =

Stopping

Stopped Disable* Power Structure Enabled =

Stopping

Stopped Start Inhibit* Power Structure Enabled =

Stopping

Stopped Start Inhibit Power Structure Enabled =

Start Inhibit

Stopped Not Bus Up Pre-Charge

Stopped

Shutdown

Stopped

Major Fault

Major Faulted

Stopped

Enable

Starting

Stopped Test (Active) Starting

Starting

Shutdown

Starting Major Fault Aborting

Starting Disable Stopping

Starting Start Complete In Process = 0 Running

Starting Start Complete In Process = 1 Testing

Stopping Stop Complete Shutdown = 0 Stopped

Stopping

Stop Complete

Shutdown = 1

Shutdown

Stopping

Major Fault

Aborting

Stopping

Enable

Flying Start Enable = 1

Starting

Aborting

Stop Complete

Major Faulted

Aborting

Fault Reset

Stopping

Testing

Shutdown

Stopping

Testing Major Fault Aborting

Testing

Disable

Stopping

Testing

Test Complete

Stopping

Running

Shutdown

Stopping

Running Major Fault Aborting

Chapter 2 Behavior models used in CIP Motion

64 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Current State

Event

Conditions

Next State

Running Disable Stopping

Any State

Connection Close

Initializing

Any State

Connection Loss

Major Faulted

Event disables the axis power structure after a Category 2 Stop leaves the axis in active hold condition.

Axis Test Mode

Axes with the Test Mode attribute set to Enabled and that are configured for

Controller Loop Back simulate these transitions for the Axis State Model.

Current State Event Conditions Next State Axis Test Mode Support

(Test Mode Configuration)

Off Power Up Initializing Controller Loop Back: V35

Initializing

Initialization

Complete

Stopped

Controller Loop Back: V35

Stopped Enable Running Controller Loop Back: V35

Stopped

Shutdown

Shutdown = 1

Shutdown

Controller Loop Back: V35

Stopped

STO Disable

STO Active = 1

Start Inhibited

Controller Loop Back: V36

Stopped Major Fault Major Faulted Controller Loop Back: V36

Running Disable Stopped Controller Loop Back: V35

Running Major Fault Major Faulted Controller Loop Back: V36

Shutdown Shutdown Reset Shutdown = 0

STO Active = 0

Stopped Controller Loop Back: V35

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 65

Current State

Event

Conditions

Next State

Axis Test Mode Support

(Test Mode Configuration)

Shutdown Shutdown Reset Shutdown = 0

STO Active = 1

Start Inhibited Controller Loop Back: V36

Shutdown Major Fault Major Faulted Controller Loop Back: V36

Star Inhibited Shutdown Shutdown Controller Loop Back: V36

Star Inhibited Major Fault Major Faulted Controller Loop Back: V36

Star Inhibited

STO Enable

STO Active = 0

Stopped

Controller Loop Back: V36

Major Faulted Fault Reset Shutdown = 0

STO Active = 1

Shutdown Controller Loop Back: V36

Major Faulted Fault Reset Shutdown = 0

STO Active = 1

Start Inhibited Controller Loop Back: V36

Major Faulted Fault Reset Shutdown = 0

STO Active = 0

Stopped Controller Loop Back: V36

See also

State Behavior on page 74

Fault and Alarm Behavior on page 47

Exceptions on page 48

Stopping Sequences on page 690

CIP Axis Status Attributes on page 373

When the Motion Control Axis is not actively controlling axis motion (Control

Mode = No Control), the state diagram reduces to the following for a

Feedback Only axis or CIP Motion Encoder device type. Shaded regions show

mapping of Axis States to corresponding Identity Object states. State

transitions ending on shaded boxes can transition to any axis state within the

box.

Feedback Only Axis

Behavior Model

Chapter 2 Behavior models used in CIP Motion

66 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Tip: *Specific Standby state after a fault reset is determined by applying Fault Reset State Transition

Precedence rules.

Valid transitions for the Axis State Model of a Feedback Only axis or CIP

Motion Encoder are defined in this table:

Current state Event Conditions Next state

Off

Power up

Self test

Self test complete

Initializing

Initialization Fault

Major faulted

Initializing

Initialization Complete

Start Inhibited

Shutdown

Major fault

Major faulted

Shutdown Shutdown reset Start Inhibited>0 Start Inhibited

Shutdown

Shutdown reset

Start Inhibited>0

Running

Start Inhibited Shutdown Shutdown

Start Inhibited

Major fault

Major faulted

Start Inhibited

Inhibits cleared

Running

Major Faulted

Fault reset

Shutdown = 1

Shutdown

Major Faulted Fault reset Shutdown = 0

Start Inhibited > 0

Start Inhibited

Major Faulted Fault reset Shutdown = 0

Start Inhibited = 0

Running

Major Faulted

Reconnection

Initializing

Running

Shutdown

Running

Major fault

Major faulted

Any State

Connection close

Initializing

Any State Connection loss Major faulted

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 67

Axis Test Mode

Axes with the Test Mode attribute set to Enabled and that are configured for

Controller Loop Back simulate these transitions for the Axis State Model of a

Feedback Only axis or CIP Motion Encoder.

Current State

Event

Conditions

Next State

Axis Test Mode Support

(Test Mode Configuration)

Off Power Up Initializing Controller Loop Back: V35

Initializing Initialization

Complete

Running Controller Loop Back: V35

Running Shutdown Shutdown = 1 Shutdown Controller Loop Back: V35

Shutdown

Shutdown Reset

Shutdown = 0

Running

Controller Loop Back: V35

When the Motion Device Axis Object is associated with a CIP Motion

Non-regenerative Converter, the Active Control state diagram reduces to the

following diagram. Shaded regions show mapping of Axis States to

corresponding Identity Object states. State transitions ending on shaded

boxes can transition to any axis state within the box.

Non-regen Converter Axis

Behavior

Chapter 2 Behavior models used in CIP Motion

68 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Tip:

*Specific Standby state after a fault reset is determined by applying Fault Reset

State Transition Precedence rules.

Valid transitions for the Axis State Model of a CIP Motion Non-regenerative

Converter axis are explicitly defined in the following table:

Current State Event Conditions Next State

Off Power Up Self Test

Self Test

Self Test Complete

Initializing

Initialization Fault

Major Faulted

Initializing

Initialization Complete

Pre-Charge

Shutdown

Major Fault

Major Faulted

Shutdown

Shutdown Reset

Pre-Charge

Start Inhibited Shutdown Shutdown

Start Inhibited

Major Fault

Major Faulted

Start Inhibited Inhibits Cleared Pre-Charge

Pre-Charge

Start Inhibit

Start Inhibited

Pre-Charge

Shutdown

Pre-Charge Major Fault Major Faulted

Pre-Charge Bus Up Running

Major Faulted

Fault Reset

Shutdown = 1

Shutdown

Major Faulted Fault Reset Shutdown = 0 Pre-Charge

Major Faulted

Reconnection

Initializing

Running Not Bus Up Pre-Charge

Running

Shutdown

Running

Major Fault

Major Faulted

Any State

Connection Close

Initializing

Any State

Connection Loss

Major Faulted

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 69

Axis Test Mode

Axes with the Test Mode attribute set to Enabled and that are configured for

Controller Loop Back simulate these transitions of a CIP Motion

Non-regenerative Converter axis.

Current State

Event

Conditions

Next State

Axis Test Mode Support

(Test Mode Configuration)

Off

Power Up

Initializing

Controller Loop Back: V35

Initializing Initialization

Complete

Running Controller Loop Back: V35

Running

Shutdown

Shutdown = 1

Shutdown

Controller Loop Back: V35

Shutdown

Shutdown Reset

Shutdown = 0

Running

Controller Loop Back: V35

See also

State Behavior on page 74

Fault and Alarm Behavior on page 47

Exceptions on page 48

The Motor Attributes define the minimal set of required attributes to support

CIP Motion device interchangeability resulting in sufficient parametric data

provided by the controller for any CIP Motion compliant device, for example,

a drive, to control a given motor.

Motor Attributes Model

Chapter 2 Behavior models used in CIP Motion

70 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

The Usage category for an attribute is based on the Motor Type. Where

needed, Required versus Optional is further differentiated by abbreviations

for PM (Permanent Magnet) and IM (Induction Motors). It is implied that

these motor attributes are applicable to all drive modes, F, P, V, and T, but not

applicable for the No Control axis configurations where there is no active

motor control function.

For induction motors, the Motion Control Axis leverages the IEEE

recommended phase-neutral equivalent circuit motor model based on "Wye"

configuration. Reactance values, X, are related to their corresponding

Inductance values, L, by X = ωL, where ω is the rated frequency of the motor.

The prime notation, for example, X

', R

', indicates that the actual rotor

component values X

, and R

are referenced to the stator side of the

stator-to-rotor winding ratio.

IEEE per Phase Motor Model:

For permanent magnet motors, the Motion Control Axis assumes that all

motor parameters are defined in the context of a phase-to-phase motor

model.

See also

General Motor Attributes on page 615

General Permanent Magnet Motor Attributes on page 622

General Rotary Motor Attributes on page 625

General Linear Motor Attributes on page 613

Induction Motor Attributes on page 628

Linear PM Motor Attributes on page 630

Load Transmission and Actuator Attributes on page 636

Rotary PM Motor Attributes on page 638

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 71

In Position Control mode, the only operative Control Method supported is

Closed Loop servo control. When performing closed loop Position Control,

the device applies the Position Command signal output of the Command

Generator to the position loop summing junction. In addition to the Position

Command, a Position Trim input is provided that can be used to provide an

offset to the position loop. The classic PI control loop generates a Position

Loop Output signal to an inner velocity loop.

The following diagram provides an overview of the closed loop position

control behavior model.

See also

Position Feedback Selection on page 71

Position PI Gains on page 72

Velocity Feedforward on page 72

Position Loop Output Filters on page 73

Feedback to the PI regulator can be derived from two different feedback

channels. This flexibility allows the position loop to operate with either a

motor based feedback device that is typically attached to the Feedback 1

channel or a load-side feedback device that is connected to the Feedback 2

channel. Which feedback source is used by the loop is governed by the

Feedback Mode attribute.

Position Control Behavior

Position Feedback Selection

Chapter 2 Behavior models used in CIP Motion

72 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

When the Feedback Mode calls for Dual Feedback operation, the position loop

uses the Feedback 2 channel and the velocity loop uses the Feedback 1 channel.

Since the two feedback channels may not have the same feedback resolution,

it is necessary to convert the position loop output from Feedback 1 units to

Feedback 2 units before applying the output to the velocity loop summing

junction. Scaling the position loop output by using the Feedback Unit Ratio

does this process.

See also

Position Control Behavior on page 71

The Proportional Gain of the classic proportional-integral (PI) controller sets

the unity gain bandwidth of the position loop in radians/second, while the

Integral Gain is used to devise the Position Error signal to zero to compensate

for the effect of any static and quasi-static torque or forces applied to the load.

See also

Position Control Behavior on page 71

The inner velocity loop requires a non-zero command input to generate

steady-state axis motor velocity. To provide the non-zero output from the

device to the motor, a non-zero position loop output is required, which

translates to a non-zero position error.

This dynamic error between command position and actual position while

moving is often called "following error". Most closed loop motion control

applications require zero following error all of the time. This could be

achieved to some extent through use of the position integral gain control, but

typically the response time of the integrator action is too slow to be effective

in high-performance motion control applications. An alternative approach

that has superior dynamic response is to use Velocity Feedforward.

The Velocity Feedforward feature is used in Position Control mode to provide

the bulk of the Velocity Reference input necessary to generate the desired

motor velocity. It does this by scaling the Fine Velocity Command signal

output of the Command Generator by the Velocity Feedforward Gain and

adding the resultant Velocity Feedforward Command signal to the Position

Loop Output generated by the position loop to form the Velocity Reference

signal. With this feature, the position loop does not need to generate much

effort to produce the required velocity command level, hence the Position

Error value is significantly reduced. The Velocity Feedforward Command

signal allows the following error of the position control loop to be reduced to

nearly zero when running at a constant velocity. This is important in

applications such as electronic gearing and synchronization applications

Position PI Gains

Velocity Feedforward

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 73

where it is necessary that the actual axis position not significantly lag behind

the commanded position at any time.

Theoretically, the optimal value for Velocity Feedforward Gain is 100%. In

reality, however, the value might need to be adjusted to accommodate velocity

loops with finite loop gain. One thing that may force a smaller Velocity

Feedforward value is that increasing amounts of feedforward tend to

exacerbate axis overshoot. For this reason, feedforward is not recommended

for point-to-point positioning applications.

See also

Position Control Behavior on page 71

Position Loop Output Filters on page 73

A lead-lag filter is provided at the output of the position loop forward path.

This filter can be used in the lead configuration to boost position loop

bandwidth and increase the stiffness, for example, the ability to resist

dynamic load disturbances.

In this equation, Kn represents the Lead-Lag Filter Gain, or high frequency

gain of the filter (the low frequency gain is always 1), and wn represents the

Lead-Lag Filter Bandwidth associated with the pole of the filter:

• If Kn > 1, the filter provides lead compensation.

• If Kn < 1, the filter provides lag compensation.

• If Kn = 0 the lead-lag filter becomes a pure low pass filter.

• If Kn = 1, the filter is disabled.

Finally, a notch filter is included that has been shown to be effective in solving

certain types of mechanical-compliance problems. The equation for this filter

is as follows:

In this equation, Q represents the sharpness of the notch, and A represents

the attenuation depth of the notch. In most implementations, the sharpness,

Q, and the attenuation depth, A, are hard-coded in the device. In PowerFlex

drives the value of Q is 0.62 and the depth is set to 30.

Position Loop Output Filters

Chapter 2 Behavior models used in CIP Motion

74 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Position Control Behavior on page 71

The Motion Control Axis state model includes the following the states and

state transitions.

Off State

The Off State is the state of the Motion Control Axis with power off.

Self-Test State

When power is applied to the controller, the controller typically goes through

a series of self-test diagnostics. These tests include checking whether the CIP

Motion axis is associated with an actual CIP Motion device and that the axis is

also properly included in a collection of axes called a motion group. The

controller's Motion Task process synchronously all axes in the motion group.

If an associated CIP Motion device or motion group is not found for the axis,

the axis state in the controller reflects this condition as No Device, and Not

Grouped, respectively. The axis will remain in this state until the problem is

corrected. Similarly, when power is applied to the device, or the device is reset,

the device also goes through a series of self-test diagnostics and internal

device parameters are set to their power-up default values. If unsuccessful,

the impacted axis instances transition immediately to the Faulted state by

declaring an Initialization Fault that is classified as Unrecoverable according

to the terminology defined by the Identify Object. Clearing this fault can only

be accomplished through a power cycle and is most likely the result of a device

hardware problem.

Once the CIP Motion controller and the associated CIP Motion device

complete these self tests, the axis state transitions to the Initializing state

where CIP Motion connections are created and the devices are configured by

the controller. From this point on, the Axis State value in the controller is

influenced by the Axis State value in the device using the CIP Motion

connection.

If the CIP Motion device supports stand-alone operation under local control

with local configuration data, the device is free to transition from the Self-test

state to the Pre-Charge state and on to the Stopped state. Should the device

receive a subsequent Forward Open service to open a CIP Motion connection,

the device will disable all axes and transition back to the Initializing state,

following the state sequence outlined in the following paragraphs.

If the device does not support stand-alone operation and depends on remote

configuration data to be supplied over a CIP Motion connection, the device

State Behavior

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 75

will transition to the Initializing state and wait (Standby) for the Forward

Open service from the controller to open the CIP Motion Connection.

Initializing State

From the controller's perspective, the Initializing state shown in the state

models consists of four different axis substates, Unconnected, Configuring,

Synchronizing, and Waiting for Group. While transitioning through these

Initializing substates, the controller has no access to the current Axis State

value in the drive. Only after the controller's CIP Axis State completes the

Initialization process, does the CIP Axis State value reflect the current Axis

State attribute value in the CIP Motion device.

During the Initializing state, the device waits for the CIP Motion connections

to the device to be established by the controller using a Forward Open service.

Once the Forward Open service is successfully processed, the device initializes

all attributes to their factory default values, resets all active faults, resets

applicable axis status conditions including the shutdown bit, in preparation

for device attribute configuration.

Once connections are established, the controller sends Set services to the

device to set the Motion Device Axis Object configuration attributes to values

stored in the controller. Any configuration error encountered during this

process, such as "value out of range" or "value not applicable", are handled by

the device by erring the Set service response. When the CIP Motion device is

connected to one or more intelligent motor and feedback components that

contain non-volatile configuration data associated with the component, this

data will be read by the device before responding to related Set services from

the controller. This process allows the device the opportunity to validate the

controller's motor and feedback-related configuration data against the

configuration data stored in the motor or feedback component. Any

validation error encountered during this process will be handled by erring the

Set service response with an "Invalid Attribute Value" code (09). Finally,

reading the intelligent component data before completing the configuration

process also allows the serial number of the component to be read by the

controller to determine if the component has been replaced. The controller

does not complete the configuration process (Configuration Complete) until

all configuration attributes have been successfully acknowledged.

If the device supports synchronous operation, the controller then

synchronizes with the device using the Group_Sync service. If the device has

already been successfully configured, the CIP Axis State transitions to

"Synchronizing" until it receives a successful Group_Sync service response.

After the device is fully configured and synchronized with the controller, the

controller checks all other axes in the motion group to determine if they are

also configured and synchronized. During this time, the CIP Axis State is

Chapter 2 Behavior models used in CIP Motion

76 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

"Waiting for Group". As soon as the controller determines that all axes in the

motion group are configured and synchronized, Initialization is complete and

the CIP Axis State value is thereafter derived directly from the Axis State value

of the device in accordance to the state model defined in the Motion Device

Axis Object.

If a problem is found during this initialization process, for example, a process

that is beyond the scope of a Set service error, the device generates an

Initialization Fault. An Initialization Fault is viewed as an unrecoverable fault,

only a power cycle or a device reset can clear the fault condition.

If the CIP Motion connection is intentionally closed for any reason during

operation using a Forward Close service, the device clears all active faults and

returns to the Initializing State. If the CIP Motion connection is lost for any

other reason during operation, the device generates a Node Fault and

transitions to the Major Faulted state. In either case, the device will wait for

the CIP Motion connections to the device to be re-established by the controller

using a Forward Open service. Once re-established the controller's CIP Axis

State will transition through the various Initialization substates.

The Initializing State is classified as an Identity Object Standby state and,

therefore, requires that the associated power structure, if applicable, is

disabled.

Pre-Charge State

The DC Bus Up status is false for an axis in the Pre-Charge state. A Bus Up

event is one event that transitions the axis out of the Pre-Charge State to the

Stopped state (drive axis or regenerative converter axis) or to the Running

state (non-regenerative converter axis). A Bus Up event occurs when the DC

Bus Up status changes from false to true. The device’s power structure is

always disabled in Pre-Charge state (Power Structure Enabled status bit

clear). Any attempt for the controller to enable the axis via the Axis Control

mechanism while it is in the Pre-Charge state is reported back to the

controller as an error in the Response Status and the axis remains in the

Pre-Charge state.

The Pre-Charge State is classified as an Identity Object Standby state and,

therefore, requires that the associated power structure, if applicable, is

disabled.

Stopped State

In the Stopped state the device's power structure will either be disabled

(Power Structure Enabled status bit clear) or, in the case of a drive axis, held

in a static condition using an active control loop (Power Structure Enabled

status bit set). No motion can be initiated by a drive axis in the Stopped State

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nor can a drive axis respond to a planner generated command reference

(Tracking Command status bit clear). In general, the motor associated with

the drive axis will be at rest, but if an external force or torque is applied to the

load, a brake may be needed to maintain the rest condition. Similarly, no AC

Line modulation can be applied by a regenerative converter axis in the

Stopped state, nor can any regenerative energy be transferred to the AC Line.

In the Stopped state, main power is applied to the device and the DC Bus is at

an operational voltage level. If there are any Start Inhibit conditions detected

while in this state, the axis transitions to the Start Inhibited state. If an Enable

request or one of the Run Test service requests is applied to an axis in the

Stopped state, the axis transitions to the Starting state.

Starting State

When an Enable request is given to an axis in the Stopped, or Stopping state

when performing a drive Flying Start, the axis immediately transitions to the

Starting state. In this state, the device checks various conditions before

transitioning to the Running state. These conditions for a drive axis can

include Brake Release delay time and Induction Motor flux level. The device

control and power structures are activated during the Starting state (Power

Structure Enabled status bit set) but the command reference is set to a local

static value and will not track the command reference derived from the

controller (Tracking Command status bit clear). If all the starting conditions

are met, the axis state transitions to either the Running state or the Testing

state.

Running State

The Running state is where the work gets done. In this state, the device’s

power structure is active (Power Structure Enabled status bit set). In the case

of a drive axis, the selected Control Mode is enabled and the device is actively

tracking command data from the controller based motion planner output to

affect axis motion (Tracking Command status bit set).

In the case of a regenerative converter axis, the Converter Control Mode is

enabled and the device is actively tracking the Voltage or Current set point

value from the controller (Tracking Command status bit set). In the case of a

track section axis, the section axis is actively tracking the current references

for resident movers (Tracking Command status bit set). The axis remains in

the Running state until either a fault occurs or it is explicitly commanded to

stop via an Axis Control request.

In the case of an axis with no active control function (Control Mode = No

Control), the Running state simply indicates that the device is fully

operational. Since there is no active control function, however, the Power

Structure Enabled status bit and the Tracking Command status bit are both

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78 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

clear. The axis remains in the Running state until either a fault occurs or it is

explicitly commanded to Shutdown via an Axis Control request.

Testing State

When any one of the Run Test request services is sent to the axis while in the

Stopped state, for example, services that require an active power structure to

execute, the axis immediately transitions to the Starting State (Power

Structure Enabled status bit set), and then once the Starting conditions are

met, the axis transitions to the Testing state. This Testing state is like the

Running state in that the device's power structure is active, but in the Testing

state one of the device's built-in test algorithms is controlling the motor

(drive) or line energy flow (regenerative converter), not command or set point

data from the controller (Tracking Command status bit clear). In the Testing

state a drive excites the motor in various ways while performing

measurements to determine characteristics of the motor and load. Similarly a

regenerative converter device applies current in various way to determine

characteristics of the AC line and DC bus. The drive or converter axis remains

in this state for the duration of the requested test procedure and then stops

and returns to the Stopped state. The axis can also exit the Testing state by

either a fault or an explicit Axis Control request. In all these exit cases, a drive

executes a Category 0 Stopping Sequence.

Start Inhibited State

The Start Inhibited state is the same as the Stopped state with the exception

that the axis has one or more 'start inhibit' conditions that prevent it from

successfully transitioning to the Starting state. These conditions can be found

in the Start Inhibits attributes. Once corrected, the axis state automatically

transitions back to the Stopped state.

For an axis with no active control function (Control Mode = No Control), an

axis in the Start Inhibited state is prevented from transitioning to the

Running state by one or more specific conditions, such as when the associated

feedback device is not fully configured for operation. Again, once corrected,

the axis state automatically transitions to the Running state.

The Start Inhibited State is classified as an Identity Object Standby state and,

therefore, requires that the associated power structure, if applicable, is

disabled.

Stopping State

When a Disable request is issued to the Motion Device Axis Object in the

Starting, Running or the Testing states, the axis immediately transitions to

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the Stopping state. In this state, the axis is in the process of stopping and is no

longer tracking command or set point data from the controller (Tracking

Command status bit clear). For a drive axis, a Disable Request executes the

configured Stopping Actions while a Shutdown Request executes the

configured Shutdown Action.

There are many different Stopping Actions supported by the Motion Device

Axis Object for a drive axis. Each of these Stopping Actions executes one of

three possible IEC60204-1 Category Stops or Stopping Sequences (Category

Stop 0, 1, and 2). Most of these Stopping Actions actively decelerate the axis to

a stop (Category Stop 1 and 2). The power structure may remain active (Power

Structure Enabled status bit set) as long as the Stopping Action procedure

takes to complete. Once the selected Stopping Action procedure has

completed, the axis transitions to the Stopped state. When the Stopping

Action of "Disable and Coast" is initiated by a Disable Request or a Shutdown

Action, the power structure is immediately disabled (Power Structure Enabled

status bit clear) and the axis coasts to a stop while in the Stopping state

(Category 0 Stop). For all Stopping Sequences, the device will wait until the

axis has reached zero speed, or a timeout occurs (as defined by the Stopping

Time Limit and Coasting Time Limit attributes), before transitioning to the

Stopped state. In some cases, such as when the axis is stationary, this

transition can be immediate. The criteria for zero speed is based on Velocity

Feedback being less than 1% of motor rated speed or by criteria set by optional

Zero Speed and Zero Speed Time attribute values. In the case of a Frequency

Control drive device, the criteria are based on Velocity Reference rather than

Velocity Feedback.

When an Enable Request is given to a drive axis in the Stopping state with

Flying Start Enabled, the axis will immediately transition to the Starting state.

Aborting State

When a Major Fault occurs in the motion device while the axis is in either the

Starting, Running, Testing, or Stopping states, the axis immediately

transitions to the Aborting state. In this state, the axis is in the process of

stopping and is no longer tracking command or set point data from the

controller (Tracking Command status bit clear).

For a drive axis, a Major Fault executes the appropriate stopping action as

specified by the device vendor. When actively stopping the drive axis in the

Aborting state, the power structure remains active (Power Structure Enabled

status bit set) as long as the stopping action takes to complete. In some cases,

the power structure must be immediately disabled so the axis may coast to a

stop while in the Aborting state. In any case, the drive axis will wait until the

axis has reached zero speed before transitioning to the Major Faulted state.

Once the stopping procedure is complete and the axis has reached zero speed,

the axis transitions to the Faulted state. The criteria for zero speed is based on

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80 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Velocity Feedback being less than 1% of motor rated speed or by criteria set by

optional Zero Speed and Zero Speed Time attribute values. In the case of a

Frequency Control drive axis, Velocity Reference is used rather than Velocity

Feedback. In some cases, such as when the axis is stationary, this transition

can be immediate.

When faults conditions are detected in the controller that are not visible to the

motion device, or when the motion device reports a Minor Fault condition, the

controller is responsible for bringing the axis to a stop, either directly using an

Axis Control state change request or, in the case of a drive axis, directly by a

motion planner stop, or indirectly using a fault handler in the user program.

If the Axis State reported by the motion device is Stopping, then the controller

sets the CIP Axis State to Aborting based on the presence of the fault

condition.

When an Abort Request is issued to the Motion Device Axis Object a

Controller Initiated Exception is generated. If the associated Axis Exception

Action is set to generate a Major Fault the drive axis stops the axis according

to the configured Stopping Action before transitioning to the Faulted state.

Faulted State

The Motion Device Axis Object defines a Major Faulted state that is identical

to the Stopped state (or, if a Shutdown fault action was initiated, the

Shutdown state) with the exception that there are one or more Faults active.

In other words, a Major Faulted axis is a Stopped (or Shutdown) axis with a

Major Fault condition present. The Motion Device Axis Object also defines a

Minor Fault as a fault that allows device operation to continue and does not

impact the Axis State in the motion device.

There is no such distinction between Major Fault and Minor Fault in the

controller; both Major Faults and Minor Faults reported by the drive result in

the axis transitioning to the Faulted state in the controller. Thus, in the

controller it is not generally true that a Faulted axis is a Stopped (or

Shutdown) axis with a Fault condition present. When the motion device

reports a Minor Fault condition, or when fault conditions are detected in the

controller that are not visible to the motion device, the controller is

responsible for bringing the axis to a stop, either directly using an Axis

Control state change request or motion planner stop, or indirectly using a

fault handler in the user program. Until this is done, the Axis State in the

motion device may be something other than the Major Faulted state, perhaps

even in the Running state. This is reasonable given that the motion device is

only one component in a much bigger motion control system. The CIP Motion

controller is responsible for rolling up all the conditions of the system into the

Axis State that is presented to you.

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 81

Since faults are latched conditions, a Fault Reset is required to clear the faults

and, assuming the original fault condition has been removed, the axis

transitions to the Axis State of motion device. There are many different

sources of Faults: CIP Initialization Faults, CIP Axis Faults, Motion Faults,

Module Faults, Group Faults, Safety Faults, and Configuration Faults. The

following table describes the sources of these faults:

Fault

Source

Axis Test Mode Support

(Test Mode Configuration)

CIP Initialization Faults

These faults can only occur during the Initializing state. You

cannot generate an Initialization fault in any other state of

the drive, for example, faults occurring during operation of

the drive after transitioning out of the Initializing state.

Initialization Faults can apply to a specific axis or to the

entire drive, in which case all device axis instances would

indicate the Initialization Fault. The device power structure,

if applicable, is disabled when there is a CIP Initialization

Fault present.

CIP Axis Faults As the name implies, CIP Axis Faults apply to a specific

device axis instances. CIP Axis Faults are the direct result of

Axis Exceptions that are configured to generate a Fault

response. These exception conditions may apply to

individual axis instances or to all axis instances. In any case,

applications may require the device be configured to handle

these exceptions differently for different axes. Run time

conditions related to Motor, Inverter, Converter, Bus

Regulator, and Feedback components, in general, shall be

handled as Axis Exceptions. The power structure if

applicable, may or may not be disabled when there is a CIP

Axis Fault present depending on the specific stopping action

applied by the device in response to the fault condition.

Axis Safety Faults Axis Safety Faults also apply to specific axis instances. Axis

Safety Faults are the direct results of safety faults reported

by the embedded Safety Core of the device when Safety

Fault Action is configured to generate a Fault response. The

Safety Core of the device is responsible for monitoring the

condition of various critical safety functions associated

with the axis. This embedded Safety Core has a CIP Safety

connection to an external Safety Controller. When an Axis

Safety Fault occurs, the safety system is responsible for

forcing the axis into a Safe State.

Controller Loop Back: V36

(Simulation only supports Safety function faults.)

Guard Faults These faults also apply to a specific axis instance. Guard

Faults are generated by a fault condition detected in the

drive's "Hardwired" safety monitor functionality (SMSC). This

component of the drive is designed to monitor various

critical safety functions of the drive and put the axis in a

safe state if any monitored condition fails to operate

nominally.

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82 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Fault

Source

Axis Test Mode Support

(Test Mode Configuration)

Motion Faults These faults are generally associated with fault conditions

generated by the motion planner function. These faults can

include conditions related to the input (for example, actual

position) and output (command position) signals to the

motion planner. The device power structure, if applicable,

may or may not be disabled when there is a Motion Fault

present depending on the specific stopping action applied

by the system in response to the fault condition.

Controller Loop Back: V35

Module Faults These faults apply to the entire motion device and affect all

axes associated with that device. These faults can occur at

any time during device operation. Module Faults include all

Node Faults reported by the device, which are primarily

communication faults, but can include general hardware

faults where these fault conditions are checked during

run-time. A CPU watchdog fault would be an example of a

hardware CIP Node Fault. Module Faults also include

communication fault conditions detected on the controller

side of the motion connection. An example of a controller

side Module Fault would be the Control Sync Fault. The

device power structure, if applicable, is disabled when there

is a Module Fault present with the controller initiating the

equivalent of a shutdown fault action.

Group Faults These faults are related to the motion group object function

and affect all axes associated with the motion group. These

faults can occur at any time during device operation. Group

Fault conditions are detected by controller and are generally

associated with the time synchronization function that is

common to all axes in the motion group. The device power

structure, if applicable, of every axis associated with the

motion group is disabled when there is a Group Fault

present with the controller initiating shutdown fault actions.

Controller Loop Back: V35

Configuration Faults A configuration fault is generated anytime there is an error

in sending configuration data to the motion device.

Specifically, if the motion device responds to a Set Attribute

service with an error, the error condition is reflected as a

Configuration Fault along with the Attribute Error Code and

Attribute ID. The device power structure, if applicable, is

disabled when there is a Configuration Fault present.

Shutdown State

When a Shutdown request is issued to the device or a Shutdown fault action is

executed by the device, the targeted axis transitions to the Shutdown state. In

the case of a Shutdown request, the axis immediately transitions from

whatever state it is currently in to the Shutdown state. The Shutdown state

has the same basic characteristics of the Stopped state except that it can be

configured using the Shutdown Action attribute to drop the DC Bus power to

the device's power structure. This is generally done by opening an AC

Contactor Enable output provided by the drive that controls power to the

converter. Regardless of whether or not DC Bus power is disconnected, this

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 83

state requires an explicit Shutdown Reset request from the controller to

transition to the Pre-Charge state. If the device is configured to keep the DC

Bus power active while in the Shutdown state then the axis transitions

through the Pre-Charge state to the Stopped state. The Shutdown state offers

an extra level of safety against unexpected motion.

In the case where a Shutdown fault action is initiated by the drive in response

to an exception condition that is configured to be a Major Fault, the device

executes the Shutdown action, but the axis goes to the Faulted state, not the

Shutdown state. Similarly, when the axis is in the Shutdown state and a major

fault condition occurs, the axis transitions to the Faulted state. In other

words, the major fault condition has precedence over the shutdown condition

and the shutdown condition can be considered a substate. In either of these

cases a Fault Reset request from the controller clears the fault and, assuming

the original fault condition has been removed, the axis then transitions to the

Shutdown state. A Shutdown Reset request from the controller, however, both

clears the fault and performs a shutdown reset so, assuming the original fault

condition has been removed, the axis transitions to the Pre-Charge state as

described above.

In addition to the Shutdown action functionality, the Shutdown state can also

be used by the controller to disable any slave gearing or camming motion

planner functions that reference this device axis as a master axis. For this

reason, the Shutdown state is supported in the case of a Feedback Only

Control Mode where the axis instance is simply associated with a feedback

device.

The Shutdown State is classified as an Identity Object Standby state and,

therefore, requires that the associated power structure, if applicable, is

disabled.

No Device State

If the CIP Motion axis instance in the controller is created, but not currently

associated with a CIP Motion device, the axis state indicates the No Device

state. A CIP Motion axis will be associated with a physical CIP Motion device

to function. This condition is checked during the controller Self Test state as

qualification for transition to the Initializing state. For this reason the No

Device state is considered a controller only substate of the Self Test state.

Not Grouped State

If a CIP Motion axis instance is created and not associated with a motion

group, the axis state is set to the Not Grouped state. A CIP Motion axis will be

assigned to a motion group in order for the axis instance to be updated by the

periodic motion task and carry out its function. This condition is checked

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84 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

during the controller Self Test state as qualification for transition to the

Initializing state. For this reason, the Not Grouped state is considered a

controller only substate of the Self Test state.

Axis Inhibited State

If you Inhibit the axis instance for any reason, the associated instance in the

CIP Motion connection is eliminated and the axis state transitions to the Axis

Inhibited state. If this is the only instance supported by the CIP Motion

connection, the connection itself will be closed. If the axis is one of many axis

supported by the connection, then the connection is closed and re-established

to support the axis that is/are not inhibited. The Axis Inhibited state is a

controller only substate of the Self Test state. The Axis Inhibited condition is

checked during the controller Self Test state as qualification for transition to

the Initializing state. If currently Axis Inhibited, an Un-Inhibit operation will

be performed by you to transition to the Initializing state and restore axis

function.

Configuring State

Once a CIP Motion I/O connection has been made to the device, the controller

begins to send configuration data using the connection's service channel. At

this time the axis state transitions from Unconnected to Configuring. The axis

state will remain in the Configuring state until the values of all applicable

configuration attributes in the device have been set for this axis instance, or

until a configuration fault occurs, in which case the axis state transitions to

the Faulted state.

Synchronizing State

If the device has not been synchronized to the controller by the time the

controller has completed the axis configuration process, the axis state

transitions to the Synchronizing state. The axis state will remain in the

Synchronizing state until the device has been successfully synchronized as

indicated by a successful Group_Sync service response from the device, or a

time limit (~60 seconds) is reached, in which case the controller closes the

connection and starts the Initialization process over again.

Waiting for Group State

After configuring the axis and synchronizing the device to the controller, the

controller checks the status of all other axes in the motion group. If there are

any other axes in the motion group that are still being configured or

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 85

synchronized, the Axis State will transition to Waiting for Group. Cyclic data

exchange over the CIP Motion connection does not occur until all axes in the

motion group are configured and synchronized. Once all axes in the motion

group are configured and synchronized, the CIP Axis State transitions to the

current Axis State attribute value in the device, typically Pre-Charge or

Stopped.

See also

Fault and Alarm Behavior on page 47

Exceptions on page 48

Motion Control Axis Behavior Model on page 60

Stopping and Braking Attributes on page 674

Torque is generally proportional to acceleration and to the torque producing

motor current, Iq. The purpose of the Torque Control structure is to combine

input signals to create a Torque Reference. The Torque Reference, from a

variety of sources, is based on the Control Mode. It applies various filters and

compensation algorithms to the Torque Reference to create a Filtered Torque

Reference.

The Filtered Torque Reference signal is scaled by the reciprocal of the torque

constant, Kt, of the motor to become the Iq Current Command input to the

current loop. Because the motor current is also per unitized to the '% Rated'

current of the motor, the torque constant, Kt, is nominally 1. In other words,

in general it is assumed that 100% rated current produces 100% rated torque.

The following diagram provides an overview of the torque control behavior

model:

Torque Control Behavior

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86 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Torque Input Sources on page 86

Inertia Compensation on page 86

Friction Compensation on page 89

Torque Filters on page 91

Torque Limiter on page 92

The Torque Control model can take input from a variety of sources depending

on the Control Mode. Input to the Torque Reference path can come through

the cyclic Torque Command or Torque Trim signal in Torque Control mode.

In Position or Velocity Control mode, torque input is derived from the outer

velocity loop or acceleration loop by bringing in the resulting acceleration

signals and scaling these signals into equivalent torque.

Acceleration to Torque Scaling

Because the acceleration input signals into the Torque Control section are

expressed in units of acceleration, a scaling factor, Kj, is needed to convert

acceleration units to torque % Rated Torque units. This scaling factor, when

properly configured, represents the total System Inertia or mass of the system

that includes the motor and the load and has the effect of canceling the effects

the system inertia/mass has on control loop response and loop gain settings.

Because the torque units are expressed as % of Rated Torque of the motor, the

units for the System Inertia attribute are % Rated per Motor Units/Sec

The acceleration units can be expressed in Feedback 1 or Feedback 2 Units

based on the Feedback Mode setting. Therefore, in the case where Feedback 2

applies, the acceleration signal needs to be scaled by the Feedback Unit Ratio

as shown by the Unit Ratio.

See also

Torque Control Behavior on page 85

Inertia Compensation on page 86

Inertia compensation features are included in the Torque Control behavior

model.

Backlash Compensation

Backlash Compensation is used to stabilize the device control loop behavior in

applications with high load inertia ratios and mechanical backlash.

Torque Input Sources

Inertia Compensation

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 87

The Backlash Compensation Window attribute is used to control the Backlash

Compensation feature. Mechanical backlash is a common problem in

applications that use mechanical gearboxes. The problem stems from the fact

that until the input gear is turned to the point where its proximal tooth

contacts an adjacent tooth of the output gear, the reflected inertia of the

output is not felt at the motor. In other words, when the gear teeth are not

engaged, the system inertia is reduced to the motor inertia.

If the Velocity Control loop is tuned for peak performance with the load

applied, the axis will be, at best, under-damped and, at worst, unstable in the

condition where the gear teeth are not engaged. In the worst case scenario,

the motor axis and the input gear oscillates wildly between the limits imposed

by the output gear teeth. The net effect is a loud buzzing sound when the axis

is at rest, commonly referred to as 'gearbox chatter'. If this situation persists,

the gearbox will wear out prematurely. To prevent this condition, the

conventional approach is to de-tune the velocity loop so that the axis is stable

without the gearbox load applied. Unfortunately, system performance suffers.

With a Backlash Compensation Stabilization Window value commensurate

with the amount of backlash in the mechanical system, the backlash

compensation stabilization algorithm is very effective in eliminating

backlash-induced instability while still maintaining full system bandwidth.

The key to this algorithm is a tapered Kj profile, shown below, that is a

function of the position error of the position loop. The reason for the tapered

profile, as opposed to a step profile, is that when the position error exceeds

the Bbacklash Compensation Window distance a step profile would create a

very large discontinuity in the torque output. This repulsing torque tends to

slam the axis back against the opposite gear tooth and perpetuate the buzzing

effect. The tapered profile can be qualified to run only when the acceleration

command or the velocity command to the control loop structure is zero, i.e.

when not commanding motion that would engage the teeth of the gearbox.

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88 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Properly configured with a suitable value for the Backlash Compensation

Window, this algorithm entirely eliminates the gearbox buzz without

sacrificing any servo performance. The Backlash Compensation Window

parameter determines the Position Error range width of the window over

which backlash stabilization compensation is applied. In general, this value

shall be set equal to or greater than the half measured backlash distance. A

Backlash Stabilization Compensation Window value of zero effectively

disables the feature.

Inertia Observer

The Inertia Observer, when enabled, monitors the acceleration of the axis in

relationship to the torque producing current command, Iq Current Reference,

and estimates the total motor inertia.

The Total Inertia Estimate for the Inertia Observer is fed back to the Kj gain to

provide automatic gain control (AGC) with respect to load inertia. This feature

can be used to compensate for inertia variation without compromising system

performance. The Inertia Observer works on the premise that the motor and

load are not subject to externally applied torques or forces that could impact

the acceleration of the load. By contrast, the Load Observer in the Acceleration

Control behavior model works on the premise that changes in acceleration are

due to externally applied torques/forces on the motor and load. Thus, the

operation of these two observers are mutually exclusive; they should not be

enabled at the same time.

See also

Friction Compensation on page 89

Torque Control Behavior on page 85

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 89

Friction Compensation applies a compensating directional torque or force to

the motor to overcome the effects of friction in the mechanical system, thus

minimizing the amount of control effort required. Individual attributes have

been defined to support compensation for static friction, sliding (Coulomb)

friction, and viscous friction. A compensation window attribute is also

provided to mitigate motor dithering associated with conventional friction

compensation methods.

Static Friction Compensation

It is not unusual for an axis to have enough static friction, commonly called

“sticktion”, in position control applications that even with a significant

position error, the mechanical system refuses to budge. Of course, position

integral gain can be used to generate enough output to the drive to correct the

error, but this approach may not be responsive enough for the application. An

alternative is to use Static Friction Compensation to break the sticktion in the

presence of a non-zero position error.

One method of doing this is by adding a fixed torque level, as determined by

the Static Friction Compensation attribute, to the Torque Reference signal

value based on its current sign. With this Torque Reference based method,

static friction compensation is only be applied when the axis is static, that is,

when there is no change in the position command. Using this method, the

Static Friction Compensation value is generally set just under the value that

would overcome the sticktion. A larger value results in axis “dither”, a

phenomena describing the rapid back and forth motion of the axis, centered

on the commanded position, as the friction compensation function

overcompensates for the sticktion.

To address this issue of dither when applying Static Friction Compensation,

an optional Friction Compensation Window can be applied around the

current command position when the axis is at rest. If the actual

positionabsolute value of the Position Error is within the Friction

Compensation Window the Static Friction Compensation value is applied to

the motor as torque but scaled by the ratio of the Position Error signal to the

Friction Compensation Window. Within the window, the position loop and

velocity loop integrators are disabled to avoid the hunting effect that occurs

when the integrators wind up. Thus, once the absolute value of position error

reaches or exceeds the value of the Friction Compensation Window attribute,

the full Static Friction Compensation value is applied. A Non-zero Friction

Compensation Window has the effect of softening the application of Static

Friction Compensation torque to the motor, thereby allowing higher values of

Static Friction Compensation to be applied for improved point-to-point

positioning without dither. Of course, should the Friction Compensation

Window be set to zero, this dither mitigation feature is effectively disabled

Friction Compensation

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90 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Another method for static friction compensation is to add the Static Friction

Compensation torque level to the Torque Reference signal based on the sign

and magnitude of the Velocity Reference signal. This method is useful for

high performance speed control and tracking applications. With this Velocity

Reference based method, static friction compensation is applied when the

Velocity Reference signal exceeds the configured Friction Compensation Start

Speed value. Once applied, the Static Friction Compensation torque level is

maintained for a period of time set by the Friction Compensation Breakaway

Time attribute to provide the torque impulse needed to break sticktion. The

Static Friction Compensation torque level is then ramped down to the Sliding

Friction Compensation value at a vendor specific rate.

A third Friction Compensation method is defined that is based on the Velocity

Feedback signal rather than the Velocity Reference signal. This method does

not apply Static Friction Compensation but otherwise applies Sliding Friction

Compensation and Viscous Friction Compensation in exactly the same way as

the Velocity Reference method. This method is useful for torque control

applications.

Sliding Friction Compensation

Sliding friction or Coulomb friction, by definition, is the component of

friction that is independent of speed as long as the mechanical system is

moving. Sliding friction is always less than static friction for a given

mechanical system. The method of compensating for sliding friction is

basically the same as that for static friction, but the torque level added to the

Torque Reference is less than that applied to overcome static friction and is

determined by the Sliding Friction Compensation attribute. Sliding Friction

Compensation is applied only when the axis is being commanded to move.

Viscous Friction Compensation

Viscous friction, by definition, is the component of friction that increases

linearly with the speed of the mechanical system. The method of

compensating for viscous friction is to multiply the configured Viscous

Friction Compensation value by the speed of the motor and apply the result to

the Torque Reference signal. Viscous Friction Compensation is applied only

when the axis is being commanded to move.

When using the Velocity Reference (or Velocity Feedback) method for Friction

Compensation, Viscous Friction Compensation is applied to the Torque

Reference when the Velocity Reference (or Velocity Feedback) signal exceeds

the configured Friction Compensation Start Speed value and will continue to

be applied until the Velocity Reference (or Velocity Feedback) signal drops

below the Friction Compensation Start Speed minus the Friction

Compensation Hysteresis value.

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 91

See also

Torque Filters on page 91

Torque Control Behavior on page 85

The following filters can be applied to provide additional compensation and

control to the torque value.

Lead-Lag Filter

A lead-lag filter is provided in the torque reference path.

Use the lead-lag filter in the:

• Lead configuration to boost velocity or acceleration loop bandwidth

• Lag configuration for the high frequency gain boost that associates

with compliant load mechanics.

In this equation, Kn represents the Lead-Lag Filter Gain, or high frequency

gain of the filter (the low frequency gain is always 1), and wn represents the

Lead-Lag Filter Bandwidth associated with the pole of the filter:

• If Kn > 1, the filter provides lead compensation.

• If Kn < 1, the filter provides lag compensation.

• If Kn = 0 the lead-lag filter becomes a pure low pass filter.

• If Kn = 1, the filter is disabled.

When used as a lag filter (Kn < 1), this filter can be effective in compensating

for the gain boosting effect of natural mechanical resonance frequencies that

are within the acceleration/velocity loop bandwidth.

Low Pass Filter

The torque reference signal typically passes through a Torque Low Pass Filter

to attenuate the high frequency content of the signal. The Low Pass Filter is

effective in resonance control when the natural resonance frequency is much

higher (>5x) than the control loop bandwidth. This filter works by reducing

the amount of high-frequency energy in the device output that excite the

natural resonances. The Low Pass Filter design can be single pole or multiple

poles. Care shall be taken, however, to limit the amount of phase lag

introduced by this filter to the control loop to avoid potential instability.

Torque filters

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92 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Notch Filters

One or more Torque Notch Filters can also be applied to the torque reference

signal. Notch filters are effective in resonance control when the natural

resonance frequency is higher than the control loop bandwidth. Like the low

pass filter, the notch filters work by significantly reducing the amount of

energy in the device output that can excite the natural resonances. Notch

filters can be used even when the natural resonance frequencies are relatively

close to the control loop bandwidth. That is because the phase lag introduced

by the notch filters are localized around the notch frequencies. For the notch

filters to be effective, the Notch Filter Frequency has to be set very close to the

natural resonance frequency of the load.

The following is an equation for the notch filter:

In this equation, Q represents the sharpness of the notch. In most

implementations, the sharpness, Q, is typically hard-coded in the device. The

attenuation depth of the notch filter is typically infinite.

For details on the Rockwell Automation specific implementation of Torque

Notch Filters, refer to the Torque Notch Filter Attributes.

See also

Torque Limiters on page 92

Torque Control Behavior on page 85

After undergoing friction compensation and filtering the Torque Reference

signal passes through a limiter to produce the Limited Torque Reference

signal. The Torque Limiter applies a torque limit to the signal that is based on

the sign of the torque reference signal input and the state of the axis.

During normal operation it is the Torque Limit – Positive and Torque Limit –

Negative attributes, set by the user, that are applied to the torque reference

signal. When the axis is commanded to stop as part of a disable request or

major fault condition, the device applies the Stopping Torque Limit.

Also included with the torque limiter is a built-in Torque Rate of Change

Limit. This feature limits the rate of change of the torque reference output.

See also

Torque to Current Scaling on page 93

Torque Limiter

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 93

Torque Control Behavior on page 85

The final result of all this torque signal filtering, compensation, and limiting

functionality is the Filtered Torque Reference signal. When the signal is

scaled by the reciprocal of the Torque Constant of the motor, 1/Kt, it becomes

the torque producing Iq Current Command signal to the current loop.

Ideally, the relationship between motor torque and motor current is

independent of position, time, current, and environmental conditions, the

1/Kt scaling has a nominal value of 1, so that 100% rated torque translates to

100% rated current. In practice, this may not be the case. Compensation can

be applied to the 1/Kt value to address these issues at the drive vendors'

discretion.

Cogging Compensation

For PM motors, one of the more troublesome Kt variations to contend with is

a position dependent variation to Kt known as motor cogging. The Kt scaling

factor can be used to compensate for motor cogging by performing a test on

the motor that generates a Kt versus Electrical Angle Cogging Compensation

table. This table can then be used to compensate for the cogging impact in

real- time based on the electrical angle of the motor resulting in smoother

motor operation.

Torque Estimate

CIP Motion supports a generalized Torque Estimator block used to the Torque

Estimate signal that represents the torque, or force, applied by the motor. This

estimate is based on vendor specific algorithms that determine motor torque,

or force, from various motor related input and output signals. An optional

Torque Estimate Crossover Speed configuration attribute allows different

algorithms to be applied to estimate torque for low speed and high speed

operation.

The Torque Estimator output signal is passed through two 2nd order notch

filters. These filters can be configured to provide low pass, high pass, notch, or

band pass filtering to the Torque Estimate signal.

See also

Torque Control Behavior on page 85

Velocity Control Behavior on page 93

In Velocity Control mode, there are two operative control methods supported,

Closed Loop Velocity Control and Open Loop Frequency Control.

Torque to Current Scaling

Velocity Control Behavior

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94 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Closed Loop Velocity Control model

Targeted for applications that require tight speed regulation. The following

diagram provides an overview of this method.

Open Loop Frequency Control model

Associated with drives that do not have a current control loop and typically

drive an induction motor, also known as Volts/Hertz or Variable Frequency

Drives (VFDs). The following diagram provides an overview of this method.

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 95

See also

Closed Loop Velocity Control on page 95

Open Loop Frequency Control on page 98

The Closed Loop Velocity Control method is targeted for applications that

require tight speed regulation. The command input to the velocity loop can be

derived directly from the Velocity Command of the Command Generator

when configured for Velocity Control Mode or from the Position Loop Output

when configured for Position Control Mode.

When serving as an outer velocity loop in Velocity Control Mode, the device

applies the Velocity Command input to the velocity command summing

junction to generate the Velocity Reference signal into a PI regulator.

Contributing to the velocity command summing junction also is the Velocity

Trim input, which can be used in conjunction with an outer control loop to

make minor adjustments to the velocity of the motor.

When serving as an inner velocity loop in Position Control Mode, the device

applies the Position Loop Output signal to the input of the velocity command

summing junction. Input signals that are not applicable to the configured

control mode are generally set to zero.

Closed Loop Velocity

Control

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96 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Velocity Limiter

The output of the velocity command summing junction signal passes through

a limiter to produce the Velocity Reference signal into the velocity loop. The

Velocity Limiter applies a directional velocity limit, either Velocity Limit - Pos

or Velocity Limit - Neg, to the velocity command signal input that is based on

the sign.

Velocity Feedback Selection

Feedback to the PI regulator can be derived from either of the two available

feedback transducers, Feedback 1 or Feedback 2. Which feedback source is

used by the loop is governed by the Feedback Mode enumeration. If Feedback

Mode is No Feedback, indicating sensorless operation, the Velocity Feedback

signal is estimated by the Sensorless Velocity signal generated by the

sensorless control algorithm. If an optional Load Observer is configured for

Velocity Estimate operation, the Velocity Feedback signal is the Load Observer

Velocity Estimate.

Velocity Error Filter

A low pass filter can be optionally applied to the velocity error signal

generated by the velocity loop summing junction. The output of this filter

becomes the Velocity Error signal that is subsequently operated on by the

velocity loop PI control algorithm. When used, the filter is typically set

between 5 to 10 times the velocity loop bandwidth. It is recommended that

this filter be a two pole IIR filter to maximum its effectiveness at quantization

noise filtering.

Velocity Gains

The velocity loop generates a Velocity Loop Output signal to the next inner

loop through a PI control loop structure. The Proportional Gain of the

controller sets the unity gain bandwidth of the velocity loop in

radians/second, while the Integral Gain is used to drive the Velocity Error

signal to zero to compensate for any static and quasi-static torque or forces

applied to the load. The integrator path includes a Proportional Gain so that

units of the Integral Gain represent the bandwidth of the integrator in

radians/second.

The integral section of the velocity regulator includes an anti-windup feature.

The anti-windup feature automatically holds the regulator's integral term

when a limit condition is reached in the forward path. The anti-windup

feature is conditioned by the arithmetic sign of the integrator's input. The

integrator is held when the input's sign is such that the integrator output

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 97

moves further into the active limit. In other words, the integrator is allowed to

operate (not held) when the input would tend to bring the integrator output

value off the active limit.

The integrator may also be configured for integrator hold operation. When

the Integrator Hold attribute is set true, the regulator holds the integrator

from accumulating while the axis is being commanded to move. This behavior

is helpful in point-to-point positioning applications.

An automatic preset feature of the velocity regulator's integral term occurs

when a transition is made from a Torque Control mode to speed control, by

using the Control Mode selection parameter. Upon transition to speed mode,

the speed regulator's integral term is preset to the motor torque reference

parameter. If the speed error is small, this provides a 'bumpless' transition

from the last torque reference value present just prior to entering speed

mode.

Negative Feedforward

Aside from the normal PI control elements, a negative feedforward gain (Knff

) is provided to adjust the time response of the velocity regulator. Knff has a

range of 0…100%, where 0 disables the function. A value of 30% results in little

noticeable overshoot in the speed response to a step input. This can be easily

observed when the motor speed is ramped to zero. The effect of negative

feedforward is to eliminate backup of the motor shaft. The Knff gain setting

has no effect on the stability of the speed regulator. A disadvantage of by using

negative feedforward is that it results in a time lag in feedback response to a

reference ramp input.

Velocity Droop

Another feature of the velocity regulator is the velocity droop function. The

velocity error input to the integral term is reduced by a fraction of the velocity

regulator's output, as controlled by the droop gain setting, Kdr. As torque

loading on the motor increases, actual motor speed is reduced in proportion

to the droop gain. This is helpful when some level of compliance is required

due to rigid mechanical coupling between two motors.

Acceleration Feedforward

The velocity loop requires a non-zero velocity loop output to generate steady-

state axis motor acceleration. To provide the non-zero output from the drive

to the motor, a non-zero velocity error is generally required. In Position

Control applications, this non-zero velocity error translates to a non-zero

position loop error.

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98 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Because many closed loop motion control applications require near zero

control loop error, this behavior is not desirable. Again, the position and

velocity loop error could be reduced by applying the velocity integral gain

control as described above, but the integrator action is still too slow to be very

effective. The preferred approach with superior dynamic response is to use

Acceleration Feedforward.

The Acceleration Feedforward feature is used to generate the bulk of the

Acceleration Reference necessary to generate the commanded acceleration. It

does this by scaling the Fine Acceleration Feedforward generated by the

Command Generator by the Acceleration Feedforward Gain and adding the

resultant Acceleration Feedforward Command signal as an offset to the

output of the velocity loop. With this feature, the velocity loop does not need

to generate much control effort, thus reducing the amount of control loop

error.

Theoretically, the optimal value for Acceleration Feedforward is 100%. In

reality, however, the value may need to be adjusted to accommodate

variations in load inertia and the torque constant of the motor. Like Velocity

Feedforward, Acceleration Feedforward can result in overshoot behavior and

should not be used in point-to-point positioning applications.

When used in conjunction with Velocity Feedforward, Acceleration

Feedforward allows the following error of the position or Velocity Control loop

to be reduced to nearly zero during the acceleration and deceleration phases

of motion. This is important in tracking applications that use electronic

gearing and camming operations to precisely synchronize a slave axis to the

movements of a master axis.

See also

Position Control Behavior on page 71

Velocity Feedforward on page 72

Another Velocity Control method is the open loop Frequency Control method

associated with so called Volts/Hertz or Variable Frequency Drives (VFDs)

that do not have a current control loop and typically drive an induction motor.

Velocity control with this method is achieved by controlling the voltage and

frequency output of the drive device in some manner where voltage is

generally proportional to frequency. For an induction motor, the velocity of

the motor is determined by the Output Frequency of the drive device divided

by the Motor Pole count. This control method is applicable to Velocity Control

applications that do not require tight speed regulation and therefore do not

require a feedback device.

Open Loop Frequency

Control

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 99

Basic Volts/Hertz Operation

There are a number of attributes that are used to specify the relationship the

drive device uses between output frequency (speed) and output voltage for a

given (induction) motor.

The Break Frequency and Break Voltage attributes define the point on the

Volts/Hertz curve below which the Start Boost feature is applied. As the name

indicates, Start Boost is used to provide a non-zero output voltage to the

motor at stand-still to assist startup.

The contribution of Start Boost to the output voltage of the drive device tapers

off to zero when the motor reaches the Break Frequency. Above the break

point, output voltage and output frequency follow a linear slope to the point

defined by the Motor Rated Frequency and Motor Rated Voltage. From this

point on, the Volts/Hertz curve follows another linear slope to the point

defined by the Max Frequency and Max Voltage attributes. This segment of

the Volts/Hertz curve allows for operation above the rated frequency and

voltage of the motor in applications where that is required.

Sensorless Vector Operation

Sensorless Vector is an alternative Frequency Control Method that does not

require configuration of a Volts/Hertz curve. Instead, by knowing the Stator

Resistance and Leakage Inductance of the motor, the drive device can

calculate the appropriate Output Voltage required for a given Output

Frequency. This method provides better low speed velocity control behavior

than using the Basic Volts/Hertz method.

Sensorless Vector Economy Operation

Sensorless Vector Economy is an alternative Frequency Control Method that

provides additional energy savings during Sensorless Vector operation when

running at steady state speed. When a steady state speed condition is reached,

the Sensorless Vector Economy algorithm applies a ramp function to slowly

reduce the Output Voltage while monitoring the motor flux current, Id, until

the flux current is reduced to an internal limit (e.g. 50% Rated), thereby saving

energy. The ramp rate is set by the Sensorless Vector Economy At Speed Ki

attribute. The drive will continue to operate in this reduced power state as

long as the drive is not commanded to accelerate or decelerate the motor, and

the torque producing current level, Iq, doesn’t exceed an internal limit (e.g.

75% Rated). In the event of an acceleration or deceleration command, or a

sudden increase in torque producing current, the Sensorless Vector Economy

feature activates a regulator that quickly adjusts the drive’s Output Voltage to

increase motor flux current back to the normal Sensorless Vector operational

Chapter 2 Behavior models used in CIP Motion

100 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

level. The responsiveness of this regulator is determined by the Sensorless

Vector Economy Accel Decel Kp and Ki attributes.

Slip Compensation

When driving an induction motor at a specific frequency, the actual motor

velocity is generally less than the command speed, given by the output

frequency divided by the motor pole count, by an amount that is proportional

to the load torque applied to the motor. This difference in speed is called 'Slip'

and is a configuration attribute associated with the motor. The Motion Device

Axis Object supports a Slip Compensation feature that is common to Variable

Frequency Drives. The amount of Slip Compensation applied to the Velocity

Reference is the product of the measured torque producing current, Iq, and

the configured Induction Motor Rated Slip Speed.

Velocity Droop

Another feature defined for the Frequency Control method is the droop

function. The droop function reduces the velocity reference by a scaled

fraction of the torque producing current, Iq, as controlled by the droop gain

setting, Kdr. As torque loading on the motor is increased, actual motor speed

is reduced in proportion to the droop gain. This is helpful when some level of

compliance is required when performing torque sharing between two motors

on a common load.

Current Limit Regulators

Left unmitigated, a sudden increase in commanded speed or load torque

results in a sharp increase in induction motor slip, causing a spike in motor

current. This condition can cause the drive to generate a nuisance overcurrent

fault that would adversely affect machine operation. To avoid such a fault, a

set of current limit regulators are often included when running in Frequency

Control mode to maintain operation within the rated current limitations of

the motor and drive. One of these current limit regulators adjusts the Output

Frequency Alarm to limit the increase in motor slip, regardless of whether the

increase in slip is due to an increase in commanded speed or an increase in

load torque. When operating at lower speeds, however, this current limit

regulator is not very effective at limiting motor current. So another pair of low

speed current limit regulators are responsible for adjusting Output Voltage,

rather than Output Frequency, to limit spikes in motor current. One of these

low speed current limit regulators manages flux producing current, Id, while

the other regulator manages torque producing current (Iq). Together, these

two low speed current limit regulators keep the output current under the

overcurrent fault threshold.

Chapter 2 Behavior models used in CIP Motion

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 101

See also

Velocity Control Behavior on page 93

Torque Control Behavior on page 85

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 103

Chapter 3

Interpret the Attribute Tables

Each attribute table begins with the attribute name as a heading. The tag,

GSV/SSV, and MSG names for each of these attributes are the same as the

attribute name listed, but with the spaces removed. For example, Inhibit Axis

would be InhibitAxis.

This table provides an explanation of the information, nomenclature, and

abbreviations used in the attribute tables.

Attribute Table Column Heading Descriptions

Column Heading

Description

Usage

(Implementation)

The following identifiers are used for usage:

• Required

This is a required attribute. It is supported for the listed control modes for

each attribute.

• Optional

This is an optional attribute. It is supported for the listed control modes for

each attribute. Optional attributes are based on the specific drive that has

been associated.

• Replicated

For a listing of the attributes that are replicated in the drive see Identify

Motion Axis Attributes Based on Device Function Codes on page 112.

In the Usage column, you will also see combinations of Usage and Mode, such

as the following:

C PVT Closed Loop Vector Control Method

D FC Drive (Any Frequency Controlled or Vector Controlled drive device)

In addition to these combinations, there are many attributes that are

applicable or not applicable to sensorless drive operation, for example,

velocity-controlled drives operating without a feedback device. To

accommodate these situations, the following Device Function Codes are

used:

• E Encoder present.

•

!E Encoderless/sensorless control, feedback device is not present.

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104 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Column Heading

Description

Device Control Codes (mode)

The following identifiers are used for Device Function Codes:

• Required - All = All Control Modes

• Optional - All = All Control Modes

If applicable only to specific implementations, the following codes will be

used to denote when they apply:

• Individual codes:

B = Bus Power Converters (No Control Mode, No Control Method)

G = Regenerative (Active) AC/DC Converters (No Control Mode, No Control

Method)

N = Non-Regenerative (Passive) AC/DC and DC/DC Converters (No Control

Mode, No Control Method)

E = Encoder present, Feedback Only (No Control Mode, No Control Method)

F= Frequency Control (Velocity Control Mode, Frequency Control Method)

P = Position Loop (Position Control Mode, Closed Loop Vector Control

Method)

V = Velocity Control Loop (Velocity Control Mode, Closed Loop Vector

Control Method)

T = Torque Control Loop (Torque Control Mode, Closed Loop Vector Control

Method)

C\D = Identifies the attributes that have a matching or replicated

attributes in the associated device/drive.

• Combination codes:

BE = All device functions using No Control Method (N)

O = All device functions using Open Loop Control Methods -Frequency

Control (F)

GN = All Bus Power Converters or Bus Power Supplies, Regenerative and

Non-Regenerative

C = All device functions using Closed Loop Control Methods (P, V, T)

D = All device functions using Control Methods (FC)

• Encoderless/sensorless drive codes:

E Encoder present. (N, P ,V ,T with Feedback device present.)

!E Encoderless/sensorless control, feedback device is not present.(Closed

Loop Sensorless Vector and Frequency Controlled)

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 105

Column Heading

Description

Access Rules

The following identifiers are used for the Access Rules:

• Get = Get Attribute List service

GSV = Can be read using the GSV Get System Variable instruction.

Get/SSV = Indicates that the attribute can only be set programmatically

and cannot be set by configuration software.

• Set = Set Attribute List service

SSV = Can be written using the Set System Variable instruction

Set/SSV* = Indicates that the attribute cannot be set while the drive power

structure is enabled (Power Structure Enable bit in CIP Axis Status is true).

Set/SSV# = Indicates that the attribute cannot be set while the tracking

command (Tracking Command bit in CIP Axis Status is true).

Set/GSV = Indicates that the attribute can only be set when the axis is

created on download and cannot be changed either online or

programmatically.

Set/SSV = Indicates that the attribute can only be set by configuration

software on initial configuration download and cannot be set

programmatically.

• MSG

Message is only used to access drive attributes for which there is no

GSV/SSV access.

In order to use an MSG instruction to access information from a drive, you

will need the Attribute and Class IDs.

Important:

You can only access attributes with a message command if

they are marked as MSG accessible in tables or text. If you attempt to

access an attribute that is not marked as MSG accessible, expect

inaccurate data to be returned to the controller.

• Logix Designer

This attribute is only available in the Logix Designer application through

the Axis Properties Dialog boxes.

T Can be accessed as an Axis Tag

Data Type For example, DINT, UINT, SINT, REAL, BOOL

Default, Minimum, Maximum

Range Limits

DB = Motion Database

Indicates that the default value comes from the database.

FD = Factory Default computed value

∞ = max float = 3.402.... x 10

0+ = min float = 1.2.... x 10

-38

maxpos = 2

/Conversion Constant

maxspd = 1000 * maxpos

minspd = minfloat

maxacc = 1000 * maxspd

minacc = minfloat

maxint = 2

- 1

maxdint = 2

- 1

- (dash) = Not Applicable

N/A = Not Applicable

Defaults = Unless otherwise specified, all optional attributes default to 0. All

reserved and otherwise unused bits and enumerations are set to 0.

Chapter 3 Interpret the Attribute Tables

106 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Column Heading

Description

Semantics of Values The meaning of the attribute values.

For example: Position Units / Sec.

Tag access is supported by value is valid only when Auto Tag Update of the

Motion Group Object is enabled.

There may be additional information in the description that directly follows

the attribute listing.

CST

Coordinated System Time

See also

Device Function Codes on page 107

CIP Data Types on page 107

Identify Motion Axis Attributes Based on Device Function Codes on

page 112

CIP Axis Attributes on page 261

Attribute Units define the unit nomenclature found in the Semantics of

Values column for many of the Motion Control Axis Attributes. In general,

attribute values are specified in units that are relevant to motion control

engineers.

Attribute Unit Cross-referencing

Attribute Unit

Applicable Units

Semantics of Values

Position Unit User String

User-defined unit of measure of motion displacement,

for example, meters, feet, inches, millimeters,

revolutions, or degrees.

Velocity Units

Position Units/Sec

For example, Revs/Sec, Inches/Sec

Accel Units

Position Units/Sec

For example, Revs/Sec

, Inches/Sec

Jerk Units

Position Units/Sec

For example, Revs/Sec

, Inches/Sec

% Device Rated %

Defined as the percentage of the continuous rating of

the device with 100% implying operation at the

continuous rated specification for the device.

This unit can be applied to attributes related to speed,

torque, force, current, voltage, and power.

Applicable devices can be a motor, inverter, converter,

or a bus regulator.

This unit can be used independent of whether the

attribute value represents an instantaneous level or a

time-averaged level; the appropriate unit for the device

rating is implied. As with all attributes that are in units

of %, an attribute value of 100 means 100%.

Power Units

Kilowatts

Inertia Units

Kg-m

Kilogram-Meter

Mass Units

Kilogram

Loop Bandwidth Units Hz Hertz

Filter Frequency Units

Hertz

Attribute Units

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 107

Attribute Unit

Applicable Units

Semantics of Values

Counts

Fundamental control unit for distance.

For example, feedback counts or planner counts.

See also

CIP Data Types on page 107

CIP Axis Attributes on page 261

This table provides descriptions of the CIP Data Types related to the CIP

Motion Control Axis.

Data Type

Name

Data Type

Code

(hex)

Description

Range

BOOL*

Boolean

0 = FALSE; 1 = TRUE

SINT

Short Integer

-128 SINT 127

INT

Integer

-32768 INT 32767

DINT

Double Integer

-2

DINT (2

– 1)

LINT

Long Integer

-2

LINT (2

– 1)

USINT C6 Unsigned Short Integer 0 USINT 255

UINT

Unsigned Integer

0 UINT 65536

UDINT C8 Unsigned Double Integer 0 UDINT (2

– 1)

ULINT

Unsigned Long Integer

0 ULINT (2

– 1)

REAL

Single Precision Float

See IEEE 754

LREAL

Double Precision Float

See IEEE 754

BYTE

bit string – 8 bits

N/A

WORD

bit string – 16 bits

N/A

DWORD

bit string – 32 bits

N/A

LWORD D4 bit string – 64 bits N/A

SHORT STRING

{length, 1-byte characters[n]}

N/A

BOOL data type is defined by the CIP standard to be an 8-bit unsigned integer with enumeration of 0 for

False and 1 for True.

See also

CIP Axis Attributes on page 261

The variations in Control Mode and Control Method result in a set of basic

Device Function Codes that help organize the many attributes of the Motion

Control Axis. Device Function Codes are designated by using a letter identifier

or a combination that you can use to determine what attributes are required

for implementation of a given CIP Motion device. The list of Device Function

Codes is as follows:

Device Function Code

Control Mode

Control Method

G Regenerative (Active) AC/DC

Converters

No Control Mode No Control Method

CIP Data Types

Device Function Codes

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108 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

N Non-Regenerative (Passive)

AC/DC and DC/DC Converters

No Control Mode No Control Method

E Encoder, Feedback Only No Control Mode No Control Method

Position Loop

Position Control Mode

Closed Loop Vector Control Method

Velocity Loop

Velocity Control Mode

Closed Loop Vector Control Method

Torque Loop

Torque Control Mode

Closed Loop Vector Control Method

F Frequency Control Velocity Control Mode Frequency Control Method (V/Hz or

VFD)

Device Function Code Combinations

Using combinations of these letters, a specific class of CIP Motion devices can

be designated for the purposes of identifying applicable attributes. For

example, 'FV' would refer to the class of all velocity-controlled drives, either

vector controlled or frequency controlled. Here are some combinations that

appear frequently:

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 109

Device Function Code

Represents

Combination

Description

B GN All Bus Power Converters or Bus Power Supplies,

Regenerative and Non-Regenerative

C PVT All Device Functions using Closed Loop Control

Methods (PI Vector Control Method)

D FC All device functions using Control Methods

(Control Method !=No Control)

Conditional Implementations

There are many conditions that impact the implementation of attributes.

Some examples are, encoderless or sensorless drive operation,

velocity-controlled drives operating without a feedback device, and attributes

that are replicated between the controller and the device. These Device

Functions Codes represent conditional implementation rules for attributes in

these situations:

Device Function Code

Description

E Encoder-based device operation

!E Encoderless or Sensorless device operation

See also

Attribute Units on page 106

CIP Data Types on page 107

In the attribute tables, attributes and services are defined as Required (R) or

Optional (O). Required attributes and services must be supported in the

implementation of the object. Optional attributes and services may or may

not be supported in the implementation and are left to the discretion of the

device manufacturer.

For Instance Attributes, the determination of whether a given attribute or

service is Required or Optional often depends on the associated Device

Function Code.

Required Implementation

If an attribute is marked as Required for a given Device Function Code, then

the controller implementation, including configuration and programming the

software, support that attribute if the end device is intended to operate in that

mode. For example, an attribute marked as Required for Device Function

Required vs Optional Axis

Attributes

Chapter 3 Interpret the Attribute Tables

110 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Code 'V' is supported by any controller that intends to interface to a CIP

Motion device that supports Velocity Loop operation.

In some cases, an attribute or service may not even be applicable to a given

Device Function Code. This situation is implied when the attribute is defined

as neither Required nor Optional for that code. The Required and Optional

classification of a given attribute can therefore be used in configuration

software design to determine if the attribute is applicable and requires user

entry.

Conditional Implementation

For some attributes, there are conditional implementation rules that extend

beyond the Device Function Code. These rules are specified in the Conditional

Implementation column of the following table. In the following example, the

attribute PM Motor Resistance is Required “R” in the implementation if the

device supports Frequency Control, Position Control, Velocity Control, or

Torque Control and the device supports Permanent Magnet motors, that is,

“PM Motor only”. The attribute is Not Applicable “-” for a Bus Power Converter

or a Feedback Only device or a drive that does not support a PM motor.

Attribute ID

Access

Rule

Attribute

Conditional

Implementation

1327 Set PM Motor

Resistance

R - - - R R R R SPM, IPM, LTS Motors

Only

To get details about how to specify the attribute, refer to the attributes list for

the functional category. For this example, PM Motor Resistance is a member

of the General Permanent Magnet Motor Attributes category. The following

table provides an example of the details:

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Required Set/SSV* REAL 0

0 - Ohms

Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit

in CIP Axis Status is true).

When you are reviewing the tables for an attribute remember that

Vendor-Specific attributes, attribute enumerations, and bits, are Optional by

definition. Attributes that have Optional enumerations or bitmaps are

designated so in the Condition Implementation column. Details about

Optional and Required support for the individual enumerations or bits for

these attributes can be found in the detailed attribute behavior tables.

The software queries the specific drive profile, Add-on Profile (AOP), to

determine if the Optional attributes listed in the table are supported.

Attributes that are marked with an AOP in the Conditional Implementation

column have semantics with additional, drive specific, optional behavior that

is queried.

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 111

If the conditional implementation column reads "Derived", it means that the

value for an attribute is determined (derived) by the controller based on the

value of another attribute. In this case, the current attribute follows the

conditional implementation rules of the attribute from which it is derived.

Derived attributes do not need to be downloaded to the controller but must be

supported by setting the appropriate bits in the Drive Set Attribute Update

Bits attribute, if applicable.

Conditional Implementation Key

The following table identifies the key abbreviations used in the conditional

column of the attributes tables and provides a description of the condition it

represents.

Key

Description

AOP Add-on Profile. Logix Designer component that can be separately installed and used

for configuring one or more modules.

Controller only attribute (controller attribute that resides only in controller)

CScale

Motion Scaling Configuration set to Controller Scaling

Derived Implementation rules follow another attribute

Drive Scaling Drive device supports drive scaling functionality

Drive replicated attribute (controller attribute that is replicated in drive)

DScale

Motion Scaling Configuration set to Drive Scaling

DSL Hiperface DSL (feedback type)

E Encoder-based control, a feedback device is present

!E Encoderless or sensorless control, a feedback device in not present

EnDat 2.1 and EnDat 2.2 (feedback type)

Hiperface (feedback type)

Rotary or Linear Induction Motor (motor type)

IPM

Rotary or Linear Interior Permanent Magnet motor (motor type)

Linear Absolute Feedback Unit - meter; Feedback n Startup Method- absolute

Linear Motor Linear PM motor or Linear Induction motor (motor type)

LDT LDT or Linear Displacement Transducer (feedback type)

LT Linear Track Mover or Section (motor types)

LTM Linear Track Mover (motor type)

LTS

Linear Track Mover or Section (motor types)

Nikon (feedback type)

Motor NV or Drive NV (motor data source)

O-Bits

Optional bits associated with bitmapped attribute

O-Enum

Optional enumerations associated with attribute

PM Rotary or Linear Permanent Magnet (SPM, IPM, LTS, LTM) motor (motor type)

Rotary Absolute

Feedback Unit - rev; Feedback n Startup Method- absolute

Rotary Motor

Rotary PM motor or Rotary Induction motor (motor type)

Resolver (feedback type)

Safety only Applicable to CIP Motion Safety Devices only

SC Sine/Cosine (feedback type)

SL Stahl SSI (feedback type)

Chapter 3 Interpret the Attribute Tables

112 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Key

Description

SPM Rotary or Linear Surface Permanent Magnet motor (motor type)

SSI (feedback type)

Tamagawa (feedback type)

Track Mover (feedback type)

Digital Parallel (feedback type)

Track Section (feedback type)

Digital AqB (feedback type)

See also

Motion Control Modes on page 18

Identify Motion Axis Attributes Based on Device Control Codes on

page 112

Interpreting the Attribute Tables on page 103

This table provides an alphabetical list of all Motion Axis Attributes specific to

the CIP Drive data type. The table identifies whether the attribute is Required

(R), Optional (O), or Conditional (C), in implementation based on the Device

Function Code. Attributes that are not applicable for a device function code

are denoted by a dash (-).

The Device Function Codes are:

• G – Regenerative (Active) AC/DC Converters (No Control Mode, No

Control Method)

• N - Non-Regenerative (Passive) AC/DC Converters (No Control Mode,

No Control Method

• E – Encoder, Feedback Only (No Control Mode, No Control Method)

• P – Position Loop (Position Control Mode, Closed Loop Vector Control

Method)

• V – Velocity Loop (Velocity Control Mode, Closed Loop Vector Control

Method)

• T – Torque Loop (Torque Control Mode, Closed Loop Vector Control

Method)

• F – Frequency Control (Velocity Control Mode, Frequency Control

Method)

• X – Track Section (No Control Mode, No Control Method)

The C/D column states whether the attribute is replicated in the drive.

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

2011

Get

AC Line Current

Yes

V32

2034 Set AC Line Current Unbalance Limit O - - - - - - Yes V32

2225

Get

AC Line Electrical Angle

Yes

V32

2010

Get

AC Line Frequency

Yes

V32

2245

Set

AC Line Frequency Change Action

Yes

V32

Identify attributes from

codes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 113

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

2246 Set AC Line Frequency Change Threshold O - - - - - - Yes V32

2247

Set

AC Line Frequency Change Time

Yes

V32

2284

Set

AC Line High Freq User Limit

Yes

V32

2286

Set

AC Line High Freq User Limit - Alternate

Yes

V32

2285 Set AC Line Low Freq User Limit O - - - - - - Yes V32

2287

Set

AC Line Low Freq User Limit - Alternate

Yes

V32

2280 Set AC Line Overvoltage User Limit O - - - - - - Yes V32

2282

Set

AC Line Overvoltage User Limit - Alternate

Yes

V32

2041

Set

AC Line Source Impedance

Yes

V32

2043 Set AC Line Source Impedance - Alternate O - - - - - - Yes V32

2042

Set

AC Line Source Power

Yes

V32

2044

Set

AC Line Source Power - Alternate

Yes

V32

2040 Set AC Line Source Select O - - - - - - Yes V32

2035

Set

AC Line Sync Error Tolerance

Yes

V32

2248 Set AC Line Sync Loss Action O - - - - - - Yes V32

2249

Set

AC Line Sync Loss Time

Yes

V32

2281

Set

AC Line Undervoltage User Limit

Yes

V32

2283 Set AC Line Undervoltage User Limit -

Alternate

O - - - - - - Yes V32

2012 Get T AC Line Voltage R - - - - - - Yes V32

2242

Set

AC Line Voltage Sag Action

Yes

V32

2241 Set AC Line Voltage Sag Threshold O - - - - - - Yes V32

2241

Set

AC Line Voltage Sag Time

Yes

V32

2014

Set

AC Line Voltage Time Constant

Yes

V32

2033

Set

AC Line Voltage Unbalance Limit

Yes

V32

483/138

Get

Acceleration Feedback

Yes

452

Get

Acceleration Feedforward Command

Yes

460/216

Set

Acceleration Feedforward Gain

Yes

367 Get T Acceleration Fine Command - - - - O O O Yes

485 Set Acceleration Limit - - - O O O O Yes

482

Get

Acceleration Reference

Yes

481

Set

Acceleration Trim

Yes

1600 Get T Accelerometer Feedback Device X O O O O O O O V35

1603

Get

Accelerometer Feedback Device X-RMS

V35

1601

Get

Accelerometer Feedback Device Y

V35

1604

Get

Accelerometer Feedback Device Y-RMS

V35

1602 Get T Accelerometer Feedback Device Z O O O O O O O V35

1605

Get

Accelerometer Feedback Device Z-RMS

V35

2091 Set Active Current Command O - - - - - - Yes V32

2106

Get

Active Current Error

Yes

V32

2118 Get T Active Current Feedback O - - - - - - Yes V32

2094

Set

Active Current Low Pass Filter Bandwidth

Yes

V32

2095

Set

Active Current Notch Filter Frequency

Yes

V32

2096

Set

Active Current Rate Limit

Yes

V32

2080

Get

Active Current Reference

Yes

V32

2082

Get

Active Current Reference - Compensated

Yes

V32

2081

Get

Active Current Reference - Filtered

Yes

V32

2104

Get

Active Current Reference - Limited

Yes

V32

2093

Set

Active Current Trim

Yes

V32

Get

Actual Acceleration

Chapter 3 Interpret the Attribute Tables

114 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

48 Get T Actual Position - - R R R R R Controller Loop

Back: V35

Get

Actual Velocity

1376 Set Actuator Diameter - - C C C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

1377 Set Actuator Diameter Unit - - C C C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

1374 Set Actuator Lead - - C C C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 115

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1375 Set Actuator Lead Unit - - C C C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

1373 Set Actuator Type - - C C C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

836

Set

Adaptive Tuning Configuration

Yes

V26

844

Get

Adaptive Tuning Gain Scaling Factor

Yes

V26

732/267

Get

Analog Input 1

Yes

733/268

Get

Analog Input 2

Yes

734 Set T Analog Output 1 O O - O O O O Yes

735

Set

Analog Output 2

Yes

150 Set Application Catalog Number R R R R R R R V34

148

Set

Application Catalog Number Instance

V34

149F

Set

Application Catalog Number Version

V34

201

Set

Application Type

164

Get

Attribute Error Code

165

Get

Attribute Error ID

873

Set

Auto Sag Configuration

Yes

E, V26

874

Set

Auto Sag Slip Increment

Yes

E, V26

875

Set

Auto Sag Slip Time Limit

Yes

E, V26

876 Set Auto Sag Start - - - O O O O Yes E, V26

Get

Average Velocity

81 Set Average Velocity Timebase - - R R R R R

Get

Axis Address

30 Set Axis Configuration R R R R R R R Optional

Enumeration

Controller Loop

Back: V35

12 Get Axis Configuration State R R R R R R R Controller Loop

Back: V35

Get

Axis Data Type

Get

Axis Event Bits

Chapter 3 Interpret the Attribute Tables

116 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

34 Get T Axis Fault Bits R R R R R R R

19 Set Axis Features R R R R R R R Optional bit

maps

Controller Loop

Back: V35

106 Set Axis ID R R R R R R R

Get

Axis Instance

753 Get T Axis Safety Alarms - - O O O O O Yes V32

754

Get

Axis Safety Alarms - Mfg

Yes

V32

988 Get T Axis Safety Alarms - RA - - O O O O O Yes V32

986 Get T Axis Safety Data A - - - O O O O Yes V31 Controller Loop

Back: V36

987 Get T Axis Safety Data B - - - O O O O Yes V31 Controller Loop

Back: V36

763 Get T Axis Safety Faults - - O O O O O Yes V24 Controller Loop

Back: V36

985

Get

Axis Safety Faults - RA

Yes

V31

760 Get T Axis Safety State - - O O O O O Yes V24 Controller Loop

Back: V36

761 Get T Axis Safety Status - - O O O O O Yes V24 Controller Loop

Back: V36

984

Get

Axis Safety Status - RA

Yes

V31

Get

Axis State

Get

Axis Status Bits

124

Set

Axis Update Schedule

825 Set Backlash Compensation Window - - - - O - - Yes

423

Set

Backlash Reversal Offset

593

Set

Brake Prove Ramp Time

Yes

E, V26

594

Set

Brake Slip Tolerance

Yes

E, V26

592

Set

Brake Test Torque

Yes

E, V26

576 Set Break Frequency - - - R - - - Yes Basic V/Hz

only

575 Set Break Voltage - - - R - - - Yes Basic V/Hz

only

816 Set Bus Observer Bandwidth O - - - - - - Yes Voltage

Control only,

V32

815 Set Bus Observer Configuration O - - - - - - Yes Optional

Enumeration

Voltage

Control only,

V32

812 Get T Bus Observer Current Estimate O - - - - - - Yes Voltage

Control only,

V32

817 Set Bus Observer Integrator Bandwidth O - - - - - - Yes Voltage

Control only,

V32

811 Get T Bus Observer Voltage Rate Estimate O - - - - - - Yes Voltage

Control only,

V32

255

Set

Bus Overvoltage Operational Limit

V29

638/262

Get

Bus Regulator Capacity

Yes

2054 Get T Bus Voltage Error R - - - - - - Yes Voltage

Control only,

V32

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 117

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

2065 Set Bus Voltage Error Tolerance O O - - - - - Yes Voltage

Control only -

G, V32

2066 Set Bus Voltage Error Tolerance Time O O - - - - - Yes Voltage

Control only -

G, V32

2053 Get T Bus Voltage Feedback R - - - - - - Yes Voltage

Control only,

V32

2063 Set Bus Voltage Integrator Bandwidth R - - - - - - Yes Voltage

Control only,

V32

2062 Set Bus Voltage Loop Bandwidth R - - - - - - Yes Voltage

Control only,

V32

2064 Set Bus Voltage Rate Limit O - - - - - - Yes Voltage

Control only,

V32

2050 Get T Bus Voltage Reference R O - - - - - Yes Voltage

Control only -

G, V32

2061

Set

Bus Voltage Reference Source

Yes

V32

2060 Set T Bus Voltage Set Point R O - - - - - Yes Voltage

Control only -

G, V32

Set

C2C Connection Instance

Set

C2C Map Instance

756 Get CIP APR Faults - - C - C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling; V27; E

905 Get T CIP APR Faults - RA - - C - C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling; V27; E

Chapter 3 Interpret the Attribute Tables

118 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

26 Get CIP Axis Alarm Log R R R R R R R

127

Get

CIP Axis Alarm Log Count

Set

CIP Axis Alarm Log Reset

659 Get T CIP Axis Alarms O O O O O O O Yes Controller Loop

Back: V36

904 Get T CIP Axis Alarms - RA O O O O O O O Yes

746

Get

CIP Axis Alarms 2

Yes

V32

927 Get T CIP Axis Alarms 2 - RA O O O O O O O Yes V32

672 Set CIP Axis Exception Action R R R R R R R Yes Optional

Enumeration

748 Set CIP Axis Exception Action 2 R O O O O O O Yes Optional

Enumeration

V32

908 Set CIP Axis Exception Action - RA R R R R R R R Yes Optional

Enumeration

909 Set CIP Axis Exception Action 2 - RA R O O O O O O Yes Optional

Enumeration

V32

Get

CIP Axis Fault Log

126 Get CIP Axis Fault Log Count R R R R R R R

Set

CIP Axis Fault Log Reset

657 Get T CIP Axis Faults R R R R R R R Yes

744

Get

CIP Axis Faults 2

Yes

V32

903 Get T CIP Axis Faults - RA R R R R R R R Yes

926

Get

CIP Axis Faults 2 - RA

Yes

V32

653

Get

CIP Axis I/O Status

Yes

901

Get

CIP Axis I/O Status - RA

Yes

650 Get T CIP Axis State R R R R R R R Yes Controller Loop

Back: V36

651 Get T CIP Axis Status R R R R R R R Yes Controller Loop

Back: V36

740 Get T CIP Axis Status 2 R O O O O O O Yes V32 Controller Loop

Back: V36

900

Get

CIP Axis Status - RA

Yes

924

Get

CIP Axis Status 2 - RA

Yes

V32

152 Set CIP Controller Get Attribute Access Bits R R R R R R R V34

151

Set

CIP Controller Set Attribute Access Bits

V34

168 Set CIP Controller Get Attr Update Bits R R R R R R R

167

Set

CIP Controller Set Attr Update Bits

154 Set CIP Drive Get Attribute Access Bits R R R R R R R V34

153

Set

CIP Drive Set Attribute Access Bits

V34

674 Get T CIP Initialization Faults R R R R R R R Yes

910

Get

CIP Initialization Faults- RA

Yes

676

Get

CIP Start Inhibits

Yes

912

Get

CIP Start Inhibits - RA

Yes

617

Set

Coasting Time Limit

Yes

V26

100 Get T Command Acceleration - - - R R R -

96 Get T Command Position - - - R R R - Controller Loop

Back: V35

Set*

Command Torque

360

Set

Command Update Delay Offset

Get

Command Velocity

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 119

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

561 Set Commutation Offset - - - - R R R Yes E; PM Motor

only

850 Set Commutation Offset Compensation - - - - O O O Yes E; IPM Motor

only, V29

563 Set Commutation Polarity - - - - O O O Yes E; PM Motor

only

562 Set Commutation Self-Sensing Current - - - - O O O Yes E; PM Motor

only, AOP

618 Set Connection Loss Stopping Action - - - O O O O Yes O-Enum V31

1 = Current

Decel Disable

(X/O/V33)(F/O)

2 = Ramped

Decel Disable

(F/O)(P/O/V33)

(V/O)

3 = Current

Decel Hold

(P/O)(V/O)

4 = Ramped

Decel Hold

(P/O/V33)(V/O)

128 = DC

Injection

Brake

(F/O/V34)(P/O

/V34)(V/O/V34

)(T/O/V34)

129 = AC

Injection

Brake

(F/O/V34)(P/O

/V34)(V/O/V34

)(T/O/V34)

41 Get Control Method R R R R R R R Yes Derived – Axis

Config

40 Set* Control Mode R R R R R R R Yes Derived – Axis

Config

82 Set Conversion Constant - - R R R R R

2030

Set

Converter AC Input Frequency

Yes

V32

2031

Set

Converter AC Input Phasing

Yes

V32

2032

Set

Converter AC Input Voltage

Yes

V32

637

Get

Converter Capacity

Yes

1280 Set Converter Configuration R - - - - - - V32; Optional

Enumeration

2001 Set* Converter Control Mode R - - - - - - Yes V32; Derived -

Converter

Config

2231

Set

Converter Current Integrator Bandwidth

Yes

V32

2103

Get

Converter Current Limit Source

Yes

V32

2230

Set

Converter Current Loop Bandwidth

Yes

V32

1065 Set Converter Current Loop Bandwidth Base R - - - - - - V32

2322 Set Converter Current Loop Damping O - - - - - - Yes V32

2321

Set

Converter Current Loop Tuning Method

Yes

V32

2232

Set

Converter Current Vector Limit

Yes

V32

Chapter 3 Interpret the Attribute Tables

120 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1069 Set Converter DC Bus Capacitance R - - - - - - V32

709

Set

Converter Ground Current User Limit

Yes

V32

2288

Set

Converter Heatsink Overtemp User Limit

Yes

V32

2243 Set Converter Input Phase Loss Action O - - - - - - Yes V32

2244

Set

Converter Input Phase Loss Time

Yes

V32

2289

Set

Converter Line Overload User Limit

Yes

V32

1049 Set Converter Model Time Constant R - - - - - - V32

1064

Set

Converter Model Time Constant Base

V32

596 Set Converter Motoring Power Limit O O - - - - - Yes V32

2100

Get

Converter Operative Current Limit

Yes

V32

605 Get T Converter Output Current O O - O O O O Yes V26

606

Get

Converter Output Power

Yes

V26

2268 Set Converter Overload Action O - - - - - - Yes Optional

Enumeration

V32

700

Set

Converter Overtemperature User Limit

Yes

V32

921

Set

Converter Pre-Charge Overload User Limit

Yes

V32

1066

Set

Converter Rated Current

V32

1067 Set Converter Rated Peak Current R - - - - - - V32

1068

Set

Converter Rated Voltage

V32

626 Set Converter Regenerative Power Limit O O - - - - - Yes V32

2003 Set Converter Startup Method O - - - - - - Yes V32 Controller Loop

Back: V35

701 Set Converter Thermal Overload User Limit O - - - - - - Yes V32

520

Get

Current Command

Yes

840 Set T Current Disturbance - - - - O O O Yes

527

Get

Current Error

Yes

529 Get T Current Feedback - - - - O O O Yes

522 Get T Current Limit Source - - - O O O O Yes F Support in

V29

524

Get

Current Reference

Yes

553

Set

Current Vector Limit

Yes

46 Set Cyclic Read Update List R R R R R R R Controller Loop

Back: V36

Set

Cyclic Write Update List

196

Set

Damping Factor

607

Get

DC Bus Input Current

V34

620/266 Get T DC Bus Voltage R R - R R R R Yes

870

Set

DC Injection Brake Current

Yes

872 Set DC Injection Brake Time - - - O O O O Yes

486

Set

Deceleration Limit

Yes

730 Get T Digital Inputs O O - O O O O Yes

731

Set

Digital Outputs

Yes

105 Set* T Direct Command Velocity - R - R -

200

Set

Drive Model Time Constant

253 Set Drive Model Time Constant Base - - - - R R R

254

Set

Drive Rated Peak Current

120 Set Dynamics Configuration Bits - - - R R R -

1057

Set

External DC Bus Capacitance

V32

1435

Set

Feedback 1 Accel Filter Bandwidth

Yes

2404

Set

Feedback 1 Accel Filter Taps

Yes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 121

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

2405 Set Feedback 1 Battery Absolute - - O - O O O Yes E; TG,NK

2406

Set

Feedback n Calibration Offset

E;TM, V33

1417 Set Feedback 1 Cycle Interpolation - - R - R R R Yes E; Not Linear

Displacement

Transducer

(feedback

type), AOP

1416 Set Feedback 1 Cycle Resolution - - R - R R R Yes E; Not Linear

Displacement

Transducer

(feedback

type)

1421 Set Feedback 1 Data Code - - O - O O O Yes E; Digital

Parallel

(feedback

type),SSI

(feedback

type)

1420 Set Feedback 1 Data Length - - O - O O O Yes E; Digital

Parallel

(feedback

type),SSI

(feedback

type)

1419 Set Feedback 1 Length - - R - R R R Yes E; Linear

Absolute Only

2400

Set

Feedback 1 Loss Action

Yes

1414 Set Feedback 1 Polarity - - O - O O O Yes E

1425 Set Feedback 1 Resolver Cable Balance - - O - O O O Yes E; Resolver

(feedback

type)

1424 Set Feedback 1 Resolver Excitation Frequency - - O - O O O Yes E; Resolver

(feedback

type)

1423 Set Feedback 1 Resolver Excitation Voltage - - O - O O O Yes E; Resolver

(feedback

type)

1422 Set Feedback 1 Resolver Transformer Ratio - - O - O O O Yes E; Resolver

(feedback

type)

1401

Get

Feedback 1 Serial Number

Yes

1415 Set Feedback 1 Startup Method - - R - R R R Yes E; Optional

Enumeration

1418 Set Feedback 1 Turns - - R - R R R Yes E; Rotary

Absolute Only

1413 Set Feedback 1 Type - - R - R R R Yes E; Optional

Enumeration

1411

Set

Feedback 1 Unit

Yes

1434

Set

Feedback 1 Velocity Filter Bandwidth

Yes

2403

Set

Feedback 1 Velocity Filter Taps

Yes

1485

Set

Feedback 2 Accel Filter Bandwidth

Yes

2454 Set Feedback 2 Accel Filter Taps - - O - O O O Yes E

2455

Set

Feedback 2 Battery Absolute

Yes

E; TG, NK

2456 Set Feedback 2 Calibration Offset O O O E; TM,V33

Chapter 3 Interpret the Attribute Tables

122 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1467 Set Feedback 2 Cycle Interpolation - - R - R R R Yes E; Not Linear

Displacement

Transducer

(feedback

type), AOP

1466 Set Feedback 2 Cycle Resolution - - R - R R R Yes E; Not Linear

Displacement

Transducer

(feedback

type)

1471 Set Feedback 2 Data Code - - O - O O O Yes E; Digital

Parallel

(feedback

type),SSI

(feedback

type)

1470 Set Feedback 2 Data Length - - O - O O O Yes E; Digital

Parallel

(feedback

type),SSI

(feedback

type)

1469 Set Feedback 2 Length - - R - R R R Yes E; Linear

Absolute Only

2450

Set

Feedback 2 Loss Action

Yes

1464

Set

Feedback 2 Polarity

Yes

1475 Set Feedback 2 Resolver Cable Balance - - O - O O O Yes E; Resolver

(feedback

type)

1474 Set Feedback 2 Resolver Excitation Frequency - - O - O O O Yes E; Resolver

(feedback

type)

1473 Set Feedback 2 Resolver Excitation Voltage - - O - O O O Yes E; Resolver

(feedback

type)

1472 Set Feedback 2 Resolver Transformer Ratio - - O - O O O Yes E; Resolver

(feedback

type)

1451

Get

Feedback 2 Serial Number

Yes

1465 Set Feedback 2 Startup Method - - R - R R R Yes E; Optional

Enumeration

1468 Set Feedback 2 Turns - - R - R R R Yes E; Rotary

Absolute Only

1463 Set Feedback 2 Type - - R - R R R Yes E; Optional

Enumeration

1461

Set

Feedback 2 Unit

Yes

1484

Set

Feedback 2 Velocity Filter Bandwidth

Yes

2453 Set Feedback 2 Velocity Filter Taps - - O - O O O Yes E

250 Set Feedback Commutation Aligned - - - - O O O Yes E; PM Motor

only,

Optional

Enumeration

31 Set Feedback Configuration R R R R R R R Optional

Enumeration

708

Set

Feedback Data Loss User Limit

Yes

42 Set* Feedback Mode - - R R R R R Yes Derived -

Fdbk Config

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 123

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

706 Set Feedback Noise User Limit - - O O O O O Yes E

707

Set

Feedback Signal Loss User Limit

Yes

44 Set Feedback Unit Ratio - - - - O O - Yes E

871 Set Flux Braking Enable - - - O O O O Yes Ind Motor only

528

Get

Flux Current Error

Yes

530 Get T Flux Current Feedback - - - - O O O Yes

525

Get

Flux Current Reference

Yes

557 Set Flux Integral Time Constant - - - - O O O Yes

556

Set

Flux Loop Bandwidth

Yes

558 Set Flux Up Control - - - O O O O Yes Ind Motor

only,

Optional

Enumeration

559 Set Flux Up Time - - - O O O O Yes Ind Motor only

380

Set

Flying Start Enable

Yes

381 Set Flying Start Method - - - O - O - Yes V29

570

Set

Frequency Control Method

Yes

Optional

Enumeration

498 Set Friction Compensation Sliding - - - - O O O Yes

499

Set

Friction Compensation Static

Yes

500 Set Friction Compensation Viscous - - - - O O O Yes

826/421

Set

Friction Compensation Window

Yes

2528 Set Gain Optimization Time - - - - O O -

189

Set

Gain Tuning Configuration Bits

Get

Group Instance

981/243

Get

Guard Faults

Yes

980/242

Get

Guard Status

Yes

Set

Home Configuration Bits

Set

Home Direction

18 Get Home Event Task - - R R R R R E

Set

Home Mode

90 Set Home Offset - - R - R R R E

Set

Home Position

113 Set Home Return Speed - - - - R R - E

87 Set Home Sequence - - R - R R R Optional

Enumeration;

112

Set

Home Speed

245 Get Hookup Test Commutation Offset - - R - R R R PM Motor only;

246

Get

Hookup Test Commutation Polarity

PM Motor only;

109 Set Hookup Test Distance - - R - R R R E

247

Get

Hookup Test Feedback 1 Direction

248 Get Hookup Test Feedback 2 Direction - - R - R R R E

111

Set

Hookup Test Feedback Channel

244 Get Hookup Test Status - - R R R R R

110

Set

Hookup Test Time

1346 Set Induction Motor Flux Current - - - R R R R Yes Ind Motor only

1349

Set

Induction Motor Magnetization Reactance

Yes

Ind Motor only

1345

Set

Induction Motor Rated Frequency

Yes

Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Yes

Ind Motor only

Chapter 3 Interpret the Attribute Tables

124 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1351 Set Induction Motor Rotor Leakage Reactance - - - O O O O

Yes Ind Motor only

1350

Set

Induction Motor Rotor Resistance

Yes

Ind Motor only

1348 Set Induction Motor Stator Leakage Reactance - - - O O O O

Yes Ind Motor only

1347

Set

Induction Motor Stator Resistance

Yes

Ind Motor only

20 Set Inhibit Axis R R R R R R R Controller Loop

Back: V35

Get

Interpolated Actual Position

101

Get

Interpolated Command Position

108

Set

Interpolated Position Configuration

Set

Interpolation Time

636

Get

Inverter Capacity

Yes

2295

Set

Inverter Ground Current User Limit

V34

647 Set Inverter Overload Action - - - O O O O Yes Optional

Enumeration

699

Set

Inverter Thermal Overload User Limit

Yes

1338 Set Linear Motor Damping Coefficient - - - O O O O Yes Linear Motor

only

2313 Set Linear Motor Integral Limit Switch - - - O O O O Yes Linear Motor

only

1336 Set Linear Motor Mass - - - - O O O Yes Linear Motor

only

1337 Set Linear Motor Max Speed - - - O O O O Yes Linear Motor

only

1334 Set Linear Motor Pole Pitch - - - R R R R Yes Linear Motor

only

1335 Set Linear Motor Rated Speed - - - R R R R Yes Linear Motor

only

203 Set Load Coupling - - - - R R R

352

Set

Load Inertia Ratio

801

Get

Load Observer Acceleration Estimate

Yes

806

Set

Load Observer Bandwidth

Yes

805 Set Load Observer Configuration - - - - O O O Yes Optional

Enumeration

809

Set

Load Observer Feedback Gain

Yes

807 Set T Load Observer Integrator Bandwidth - - - - O O O Yes

802

Get

Load Observer Torque Estimate

Yes

205

Set

Load Ratio

1370

Set

Load Type

Yes

(R) Controller

only attribute

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 125

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

750 Set Local Control O O O O O O O Yes Optional

Enumeration

202

Set

Loop Response

4 Set Map Instance R R R R R R R

Set

Master Input Configuration Bits

102 Get T Master Offset - - - R R R -

Set

Master Position Filter Bandwidth

115 Set Maximum Acceleration - - - R R R -

118

Set

Maximum Acceleration Jerk

116

Set

Maximum Deceleration

119

Set

Maximum Deceleration Jerk

573

Set

Maximum Frequency

Yes

114

Set

Maximum Speed

572

Set

Maximum Voltage

Yes

614

Set

Mechanical Brake Control

Yes

616

Set

Mechanical Brake Engage Delay

Yes

615

Set

Mechanical Brake Release Delay

Yes

10 Get Memory Usage R R R R R R R

Get

Memory Use

159

Get

Module Alarm Bits

Set

Module Channel

Set

Module Class Code

163

Get

Module Fault Bits

Get

Motion Alarm Bits

Set

Motion Exception Action

24 Get T Motion Fault Bits - - R R R R R

79 Set Motion Polarity - - R R R R R Yes Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

Chapter 3 Interpret the Attribute Tables

126 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

78 Set Motion Resolution - - R R R R R Yes Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

45 Set Motion Scaling Configuration - - R R R R R Yes Drive Scaling

only;

Optional

Enumeration

Get

Motion Status Bits

77 Set Motion Unit - - R R R R R Yes Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

635/259

Get

Motor Capacity

Yes

251 Set Motor Catalog Number R - - - R R R Yes (R) Controller

only attribute

!NV; (O) Drive

replicated

attribute, NV

1313 Set Motor Data Source - - - R R R R Yes Optional

Enumeration

1314

Set

Motor Device Code

Yes

523/263

Get

Motor Electrical Angle

Yes

PM Motor only

1323 Set Motor Integral Thermal Switch - - - O O O O Yes

1324

Set

Motor Max Winding Temperature

Yes

646 Set Motor Overload Action - - - O O O O Yes Optional

Enumeration

1322

Set

Motor Overload Limit

Yes

695

Set

Motor Overspeed User Limit

Yes

694

Set

Motor Phase Loss Limit

Yes

V26

1317 Set Motor Polarity - - - O O O O Yes

1319

Set

Motor Rated Continuous Current

Yes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 127

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1321 Set Motor Rated Output Power - - - C C C C Yes O-PM; R-IM

1320

Set

Motor Rated Peak Current

Yes

R-PM; O-IM

1318

Set

Motor Rated Voltage

Yes

1000 Get

Motor Test Bus Overvoltage Speed

- - - R R R R IPM Motor

Only, V29

1001 Get

Motor Test Commutation Offset Comp

- - - R R R R IPM Motor

Only, V29

174

Get

Motor Test Counter EMF

PM Motor only

172

Get

Motor Test Flux Current

Ind Motor only

171

Get

Motor Test Inductance

999 Get

Motor Test Ld Flux Saturation

- - - R R R R IPM Motor

Only, V29

997 Get

Motor Test Ld Inductance

- - - R R R R IPM Motor

Only, V29

998 Get

Motor Test Lq Flux Saturation

- - - R R R R IPM Motor

Only, V29

996 Get

Motor Test Lq Inductance

- - - R R R R IPM Motor

Only, V29

170

Get

Motor Test Resistance

173

Get

Motor Test Slip Speed

Ind Motor only

175

Get

Motor Test Status

697

Set

Motor Thermal Overload User Limit

Yes

1315 Set Motor Type - - - R R R R Yes Optional

Enumeration

1316

Set

Motor Unit

Yes

1325

Set

Motor Winding To Ambient Capacitance

Yes

1326

Set

Motor Winding To Ambient Resistance

Yes

521 Get T Operative Current Limit - - - O O O O Yes F Support in

V29

Get

Output Cam Execution Targets

Get

Output Cam Lock Status

Get

Output Cam Pending Status

36 Get T Output Cam Status - - R - R R R E

Get

Output Cam Transition Status

601

Get

Output Current

Yes

600

Get

Output Frequency

Yes

603

Get

Output Power

Yes

602 Get T Output Voltage - - - R R R R Yes

508

Set

Overtorque Limit

Yes

509 Set Overtorque Limit Time - - - O O O O Yes

1082

Get

Planner Actual Position

V30

1081 Get Planner Command Position - Fractional - - - R R R - V30

1080

Get

Planner Command Position - Integer

V30

1355 Set PM Motor Extended Speed Permissive - - - - O O O Yes PM Motor only;

V29

2310 Set PM Motor Flux Saturation - - - O O O O Yes SPM Motor

only

1343 Set PM Motor Force Constant - - - O O O O Yes Linear PM

Motor only

1328 Set PM Motor Inductance - - - R R R R Yes SPM Motor

only

2315 Set PM Motor Ld Flux Saturation - - - O O O O Yes IPM Motor

only, V29

Chapter 3 Interpret the Attribute Tables

128 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1354 Set PM Motor Ld Inductance - - - R R R R Yes IPM Motor

only, V29

1358 Set PM Motor Linear Bus Overvoltage Speed - - - - O O O Yes Linear PM

Motor only;

V29

1359 Set PM Motor Linear Max Extended Speed - - - - O O O Yes Linear PM

Motor only;

V29

1344 Set PM Motor Linear Voltage Constant - - - R R R R Yes Linear PM

Motor only

2314 Set PM Motor Lq Flux Saturation - - - O O O O Yes IPM Motor

only, V29

1353 Set PM Motor Lq Inductance - - - R R R R Yes IPM Motor

only, V29

1342 Set PM Motor Rated Force - - - O O O O Yes Linear PM

Motor only

1339 Set PM Motor Rated Torque - - - O O O O Yes Rotary PM

Motor only

1327 Set PM Motor Resistance - - - R R R R Yes

SPM,IPM, LTS

Motor only

1356 Set PM Motor Rotary Bus Overvoltage Speed - - - - O O O Yes Rotary PM

Motor only;

V29

1357 Set PM Motor Rotary Max Extended Speed - - - - O O O Yes Rotary PM

Motor only;

V29

1341 Set PM Motor Rotary Voltage Constant - - - R R R R Yes Rotary PM

Motor only

1340 Set PM Motor Torque Constant - - - O O O O Yes Rotary PM

Motor only

436/131

Get

Position Error

Yes

444/227 Set Position Error Tolerance - - - - R - - Yes

445

Set

Position Error Tolerance Time

Yes

1402

Get

Position Feedback 1

Yes

1452

Get

Position Feedback 2

Yes

365

Get

Position Fine Command

Yes

442

Set

Position Integrator Bandwidth

Yes

446 Set Position Integrator Control - - - - R - - Yes Optional bit

maps

437

Get

Position Integrator Output

Yes

447

Set

Position Integrator Preload

Yes

781

Set

Position Lead Lag Filter Bandwidth

Yes

782

Set

Position Lead Lag Filter Gain

Yes

443/228

Set

Position Lock Tolerance

Yes

441

Set

Position Loop Bandwidth

Yes

438

Get

Position Loop Output

Yes

783 Set Position Notch Filter Frequency - - - - O - - Yes

432

Get

Position Reference

Yes

Set

Position Scaling Denominator

Set

Position Scaling Numerator

197

Set

Position Servo Bandwidth

431

Set

Position Trim

Yes

Set

Position Units

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 129

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

84 Set Position Unwind - - R - R R R Yes Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling; Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling; E

Set

Position Unwind Denominator

Set

Position Unwind Numerator

627 Set Power Loss Action O O - O O O O Yes Optional

Enumeration

628 Set Power Loss Threshold O O - O O O O Yes

630

Set

Power Loss Time

Yes

117

Set

Programmed Stop Mode

590

Set

Proving Configuration

Yes

V26

376

Set*

Ramp Acceleration

Yes

377

Set*

Ramp Deceleration

Yes

378

Set

Ramp Jerk Control

Yes

375 Set* Ramp Velocity - Negative - - - O - O - Yes

374

Set*

Ramp Velocity - Positive

Yes

2092

Set

Reactive Current Command

Yes

V32

2107

Get

Reactive Current Error

Yes

V32

2119

Get

Reactive Current Feedback

Yes

V32

2097

Set

Reactive Current Rate Limit

Yes

V32

2083 Get T Reactive Current Reference R - - - - - - Yes V32

2084 Get T Reactive Current Reference -

Compensated

R - - - - - - Yes V32

2105

Get

Reactive Current Reference - Limited

Yes

V32

2002

Set

Reactive Power Control

Yes

V32

2073

Set

Reactive Power Rate Limit

Yes

V32

2070

Set

Reactive Power Set Point

Yes

V32

16 Get Registration 1 Event Task - - R R R R R E

Get*

Registration 1 Negative Edge Position

Yes

67 Get* T Registration 1 Negative Edge Time - - R - R R R Yes E

Get

Registration 1 Position

Get*

Registration 1 Positive Edge Position

Yes

Get*

Registration 1 Positive Edge Time

Yes

Get

Registration 1 Time

Get

Registration 2 Event Task

Get*

Registration 2 Negative Edge Position

Yes

Get*

Registration 2 Negative Edge Time

Yes

Get

Registration 2 Position

64 Get* T Registration 2 Positive Edge Position - - R - R R R Yes E

Get*

Registration 2 Positive Edge Time

Yes

58 Get T Registration 2 Time - - R - R R R E

356

Set

Registration Inputs

AOP; E

Chapter 3 Interpret the Attribute Tables

130 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

613/354 Set Resistive Brake Contact Delay - - - O O O O Yes PM Motor only

1333 Set Rotary Motor Damping Coefficient - - - O O O O Yes Rotary Motor

only

2312 Set Rotary Motor Fan Cooling Derating - - - O O O O Yes Rotary Motor

only

2311 Set Rotary Motor Fan Cooling Speed - - - O O O O Yes Rotary Motor

only

1330 Set Rotary Motor Inertia - - - - O O O Yes Rotary Motor

only

1332 Set Rotary Motor Max Speed - - - O O O O Yes Rotary Motor

only

1329 Set Rotary Motor Poles - - - R R R R Yes Rotary Motor

only

1331 Set Rotary Motor Rated Speed - - - R R R R Yes Rotary Motor

only

578 Set Run Boost - - - R - - - Yes Basic V/Hz

and

Fan/Pump

V/Hz only

766

Set

Safe Stopping Action

Yes

V31

767 Set Safe Stopping Action Source - - - O O O O Yes V31 Controller Loop

Back: V36

765 Set Safe Torque Off Action - - - O O O O Yes V26; Optional

Enumeration

759 Set Safe Torque Off Action Source - - - O O O O Yes V31 Controller Loop

Back: V36

758

Set

Safety Fault Action

Yes

V32

Set

Scaling Source

629 Set Shutdown Action O O - O O O O Yes Optional

Enumeration

370

Set

Skip Speed 1

Yes

371

Set

Skip Speed 2

Yes

372

Set

Skip Speed 3

Yes

373

Set

Skip Speed Band

Yes

833

Set

SLAT Configuration

Yes

834

Set

SLAT Set Point

Yes

835 Set SLAT Time Delay - - - - - O - Yes

565

Get

Slip Compensation

Yes

94 Set Soft Travel Limit - Negative - - R - R R R E

Set

Soft Travel Limit - Positive

Set

Soft Travel Limit Checking

Get

Start Actual Position

577 Set Start Boost - - - R - - - Yes Basic V/Hz

only

Get

Start Command Position

104 Get T Start Master Offset - - - R R R -

610 Set Stopping Action - - - R R R R Yes Optional

Enumeration

612/338 Set Stopping Time Limit - - - O O O O Yes

611/337

Set

Stopping Torque

Yes

49 Get T Strobe Actual Position - - R R R R R

Get

Strobe Command Position

103

Get

Strobe Master Offset

252

Set

System Acceleration Base

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 131

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

169 Set System Bandwidth - - - - R R R Derived –

Servo BW

2090 Set System Capacitance R - - - - - - Yes Voltage

Control only,

V32

204 Set System Damping - - - - R R R Derived –

Damp. Fact.

496

Set

System Inertia

Yes

916 Set Test Mode Configuration R R R R R R R Device Test

Mode V35

Controller Loop

Back: V35

917 Set Test Mode Enable R R R R R R R Device Test

Mode V35

Controller Loop

Back: V35

555 Set Torque Integral Time Constant - - - - O O O Yes

827

Set

Torque Lead Lag Filter Bandwidth

Yes

828 Set Torque Lead Lag Filter Gain - - - - O O O Yes

505/333

Set

Torque Limit - Negative

Yes

504/332

Set

Torque Limit - Positive

Yes

554

Set

Torque Loop Bandwidth

Yes

502

Set

Torque Low Pass Filter Bandwidth

Yes

843 Get T Torque Low Pass Filter Bandwidth

Estimate

- - - - O O O Yes V26

503 Set Torque Notch Filter Frequency - - - - O O O Yes

841

Get

Torque Notch Filter Frequency Estimate

Yes

V26

837

Set

Torque Notch Filter High Frequency Limit

Yes

V26

838

Set

Torque Notch Filter Low Frequency Limit

Yes

V26

842

Get

Torque Notch Filter Magnitude Estimate

Yes

V26

839

Set

Torque Notch Filter Tuning Threshold

Yes

V26

232

Set

Torque Offset

591 Set Torque Prove Current - - - O O O O Yes V26

506

Set

Torque Rate Limit

Yes

492 Get T Torque Reference - - - - R R R Yes

493

Get

Torque Reference Filtered

Yes

494 Get T Torque Reference Limited - - - - R R R Yes

507/334

Set

Torque Threshold

Yes

491

Set

Torque Trim

Yes

1056

Set

Total DC Bus Capacitance

V32

206 Set Total Inertia - - - - R R R Rotary Motor

only

207 Set Total Mass - - - - R R R Linear Motor

only

1371 Set Transmission Ratio Input - - C C C C C Yes (R) Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

Chapter 3 Interpret the Attribute Tables

132 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

1372 Set Transmission Ratio Output - - C C C C C Yes (R) Controller

only attribute

Motion

Scaling

Configuration

set to

Controller

Scaling;

(O) Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

71 Set Travel Mode - - R R R R R Yes Controller

only attribute,

Motion

Scaling

Configuration

set to

Controller

Scaling; Drive

replicated

attribute,

Motion

Scaling

Configuration

set to Drive

Scaling

76 Set Travel Range - - R - R R R E

181

Get

Tune Acceleration

179

Get

Tune Acceleration Time

182

Get

Tune Deceleration

180

Get

Tune Deceleration Time

187

Set

Tune Friction

186 Set Tune Inertia Mass - - - - R R R

188 Set Tune Load Offset - - - - R R R

178

Get

Tune Status

191 Set Tuning Direction - - - - R R R

190 Set Tuning Select - - - - R R R

194 Set Tuning Speed - - - - R R R

195

Set

Tuning Torque

193

Set

Tuning Travel Limit

510

Set

Undertorque Limit

Yes

511

Set

Undertorque Limit Time

Yes

464/321 Set Velocity Droop - - - O O O - Yes

455/135

Get

Velocity Error

Yes

465 Set Velocity Error Tolerance - - - - O O - Yes

466

Set

Velocity Error Tolerance Time

Yes

454/134 Get T Velocity Feedback - - R R R R R Yes

1403

Get

Velocity Feedback 1

E, V34

1453 Get T Velocity Feedback 2 - - R - R R R E, V34

433

Get

Velocity Feedforward Command

Yes

440/215

Set

Velocity Feedforward Gain

Yes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 133

Attr. ID

Access Rule

Tag

Attribute Name

C/D

Conditional

Implementat

ion

Axis Test Mode

(Test mode

Configu.)

366 Get T Velocity Fine Command - - - - O O - Yes

462

Set

Velocity Integrator Bandwidth

Yes

467 Set Velocity Integrator Control - - - - R R - Yes Optional bit

maps

456 Get T Velocity Integrator Output - - - - R R - Yes

468 Set Velocity Integrator Preload - - - - O O - Yes

474/326

Set

Velocity Limit - Negative

Yes

473/325 Set Velocity Limit - Positive - - - O O O - Yes

458 Get T Velocity Limit Source - - - - O O - Yes V29

471

Set

Velocity Lock Tolerance

Yes

461 Set T Velocity Loop Bandwidth - - - - R R - Yes

457

Get

Velocity Loop Output

Yes

469 Set T Velocity Low Pass Filter Bandwidth - - - - O O - Yes

790

Set

Velocity Negative Feedforward Gain

Yes

231 Set Velocity Offset - - - - R R -

453

Get

Velocity Reference

Yes

198 Set Velocity Servo Bandwidth - - - - R R -

472/329

Set

Velocity Standstill Window

Yes

470/327

Set

Velocity Threshold

Yes

451

Set

Velocity Trim

Yes

589

Set

Vertical Load Control

Yes

V31

15 Get Watch Event Task - - R R R R R E

54 Get T Watch Position - - R - R R R E

608

Set

Zero Speed

Yes

V26

609 Set Zero Speed Time - - - O O O O Yes V26

See also

CIP Axis Attributes on page 261

Motion Instruction Compatibility on page 25

The following table illustrates the methods used to convert a L5K file from a

Logix Designer project that uses an existing Allen-Bradley® SERCOS drive to

a comparable CIP Motion compliant drive.

SERCOS Attribute Name

L5K Example

CIP Axis Attribute Name

Conversion Method

MotionGroup

"MyGroup"

MotionGroup

Direct

MotionModule

"SercosDrive:Ch13"

MotionModule

Direct

RotationalPosResolution

200000

MotionResolution

Direct

ConversionConstant

200000

ConversionConstant

Direct

OutputCamExecutionTargets 0 OutputCamExecutionTargets Direct

PositionUnits "Position Units" PositionUnits Direct

AverageVelocityTimebase 0.25 AverageVelocityTimebase Direct

RotaryAxis

Linear

RotaryAxis

Direct

PositionUnwind

200000

PositionUnwind

Direct

HomeMode Active HomeMode Direct

HomeDirection

Bi-directional Forward

HomeDirection

Direct

HomeSequence Immediate HomeSequence Direct

Attribute Conversion from

SERCOS to Integrated

Motion on the Ethernet/IP

Network

Chapter 3 Interpret the Attribute Tables

134 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

SERCOS Attribute Name

L5K Example

CIP Axis Attribute Name

Conversion Method

HomeConfigurationBits

16#0000_0000

HomeConfigurationBits

Direct

HomePosition

Direct

HomeOffset

Direct

HomeSpeed

Direct

HomeReturnSpeed

Direct

MaximumSpeed 70.833336 MaximumSpeed Direct

MaximumAcceleration 14025.113 MaximumAcceleration Direct

MaximumDeceleration 14025.113 MaximumDeceleration Direct

ProgrammedStopMode Fast Stop ProgrammedStopMode Direct

MasterInputConfigurationBits

Direct

MasterPositionFilterBandwidth

0.1

MasterPositionFilterBandwidth

Direct

AxisType

Servo

AxisConfiguration

FeedbackConfiguration

Enum Mapping

ServoLoopConfiguration

Position Servo

AxisConfiguration

FeedbackConfiguration

Enum Mapping

FaultConfigurationBits

ExceptionAction

Enum Mapping

AxisInfoSelect1

<none>

CyclicReadUpdateList

Enum to Attr ID Element 0

AxisInfoSelect2

<none>

CyclicReadUpdateList

Enum to Attr ID Element 1

VelocityFeedforwardGain

Direct

AccelerationFeedforwardGain 0 AccelerationFeedforwardGain Direct

PositionProportionalGain

528.1571

PositionLoopBandwidth

1/2p

PositionIntegralGain 0 PositionIntegratorBandwidth 1/2p * 1000/Kpp

VelocityProportionalGain

1352.0822

VelocityLoopBandwidth

1/2p

VelocityIntegralGain

PositionIntegratorBandwidth

1/2p * 1000/Kpv

TorqueScaling

0.01749257

SystemInertia

Conversion Const/Drive Res

OutputLPFilterBandwidth

TorqueLPFilterBandwidth

Direct

IntegratorHoldEnable

Enabled

PositionIntegratorControl

VelocityIntegratorControl

Bit 0 Mapping

MaximumPositiveTravel

Direct

MaximumNegativeTravel

Direct

PositionErrorTolerance

0.3155627

PositionErrorTolerance

Direct

PositionLockTolerance

0.01

PositionLockTolerance

Direct

VelocityOffset 0 VelocityOffset Direct

TorqueOffset 0 TorqueOffset Direct

FrictionCompensation 0 FrictionCompensation Direct

FrictionCompensationWindow 0 FrictionCompensationWindow Direct

BacklashStabilizationWindow

Direct

BacklashReversalOffset

Direct

HardOvertravelFaultAction

Disable Drive

CIPAxisExceptionAction

Enum Mapping

SoftOvertravelFaultAction

Disable Drive

MotionExceptionAction

Enum Mapping

PositionErrorFaultAction

Disable Drive

CIPAxisExceptionAction

Enum Mapping

FeedbackFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping

FeedbackNoiseFaultAction Disable Drive CIPAxisExceptionAction Enum Mapping

TestIncrement 0 TestIncrement Direct

TuningTravelLimit 0 TuningTravelLimit Direct

TuningSpeed

Direct

TuningTorque

100

TuningTorque

Direct

DampingFactor

0.8

DampingFactor

Direct

DriveModelTimeConstant

2.89E-04

DriveModelTimeConstant

Direct

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 135

SERCOS Attribute Name

L5K Example

CIP Axis Attribute Name

Conversion Method

PositionServoBandwidth

84.058815

N/A

VelocityServoBandwidth

215.19055

N/A

TuningConfigurationBits

16#0000_0000

TuningConfigurationBits

Direct

TorqueLimitSource

Not Limited

TorqueLimitSource

Direct

DriveUnit

Motor Rev

MotionUnit

Direct

PositionDataScaling 10 N/A

PositionDataScalingFactor 1 N/A

PositionDataScalingExp 0 N/A

VelocityDataScaling 2 N/A

VelocityDataScalingFactor

N/A

VelocityDataScalingExp

N/A

AccelerationDataScaling

N/A

AccelerationDataScalingFactor

N/A

AccelerationDataScalingExp

N/A

TorqueDataScaling 0 N/A

TorqueDataScalingFactor 1 N/A

TorqueDataScalingExp 0 N/A

DrivePolarity

Positive

MotionPolarity

Enum Mapping

MotorFeedbackType

"SRM"

Feedback1Type

Enum Mapping

MotorFeedbackResolution

1024

Feedback1CycleResolution

Direct

AuxFeedbackType

"<NA>"

Feedback2Type

Enum Mapping

AuxFeedbackResolution

4000

Feedback2CycleResolution

Direct

MotorFeedbackUnit

Rev

Feedback1Unit

Enum Mapping

AuxFeedbackUnit

Rev

Feedback2Unit

Enum Mapping

OutputNotchFilterFrequency 0 TorqueNotchFilterFrequecy Freq Unit Scaling

VelocityDroop 0 VelocityDroop Direct

VelocityLimitBipolar

83.333336

N/A

AccelerationLimitBipolar

33000.266

N/A

TorqueLimitBipolar

288.62973

N/A

VelocityLimitPositive

83.333336

VelocityLimitPositive

Direct

VelocityLimitNegative

-83.333336

VelocityLimitNegative

Direct

VelocityThreshold

Direct

VelocityWindow

Direct

VelocityStandstillWindow 1 VelocityStandstillWindow Direct

AccelerationLimitPositive

33000.266

AccelerationLimit

Direct

AccelerationLimitNegative -33000.266 DecelerationLimit Direct

TorqueLimitPositive

288.62973

TorqueLimitPositive

Direct

TorqueLimitNegative

-288.62973

TorqueLimitNegative

Direct

TorqueThreshold

Direct

DriveThermalFaultAction

Disable Drive

CIPAxisExceptionAction

Enum Mapping

MotorThermalFaultAction

Disable Drive

CIPAxisExceptionAction

Enum Mapping

DriveEnableInputFaultAction

Disable Drive

CIPAxisExceptionAction

Enum Mapping

StoppingTorque 288.62973 StoppingTorque Direct

StoppingTimeLimit

Direct

BrakeEngageDelayTime 0 BrakeEngageDelayTime Direct

BrakeReleaseDelayTime 0 BrakeReleaseDelayTime Direct

PowerSupplyID

"2094-AC05-M01"

(Module Configuration)

BusRegulatorID

"<none>"

(Module Configuration)

PWMFrequencySelect

High Frequency

N/A

Chapter 3 Interpret the Attribute Tables

136 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

SERCOS Attribute Name

L5K Example

CIP Axis Attribute Name

Conversion Method

LoadInertiaRatio

Direct

AmplifierCatalogNumber

"2094-AC05-M01"

(Module Configuration)

MotorCatalogNumber

"MPL-A310P-M"

MotorCatalogNumber

Direct

AuxFeedbackRatio

FeedbackUnitRatio

1/x

ContinuousTorqueLimit

100

MotorOverloadLimit

Direct

ResistiveBrakeContactDelay 0 ResistiveBrakeContactDelay Direct

MaximumAccelerationJerk 2776994.8 MaximumAccelerationJerk Direct

MaximumDecelerationJerk 2776994.8 MaximumDecelerationJerk Direct

DynamicsConfigurationBits 7 DynamicsConfigurationBits Direct

PhaseLossFaultAction

Shutdown

CIPAxisExceptionAction

Enum Mapping

HomeTorqueLevel

Direct

InputPowerPhase

Three-Phase

(Module Configuration)

The following tables describe the optional attributes that are supported for

the Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 755

Standard, and the PowerFlex 755 Safety drives.

• Kinetix 350 Drive Module Optional Attributes on page 138

• Kinetix 5500 Hardwired STO Drive Module Optional Attributes on

page 145

• Kinetix 5500 Integrated STO Drive Module Optional Attributes on

page 152

• Kinetix 5700 Drive Module Optional Attributes on page 160

• Kinetix 5700 Advanced Safety Drive Module Optional Attributes on

page 168

• Kinetix 5700 CIP Safety (EtherNet/IP) Module Optional Attributes on

page 176

• Kinetix 5700 CIP Advanced Safety (EtherNet/IP) Module Optional

Attributes on page 186

• Kinetix 6500 Drive Module Optional Attributes on page 207

• Kinetix 5700 Regenerative Bus Supply Module Optional Attributes

on page 196

• PowerFlex 527 Axis Instance Optional Attributes on page 213

• PowerFlex 755 Standard Drive Module Optional Attributes on page 219

• PowerFlex 755 High Power, Standard Drive Module Optional

Attributes on page 225

• PowerFlex 755 Low Power, Non-Network Safety Drive Module Optional

Attributes on page 231

• PowerFlex 755 High Power, Non-Network Safety Drive Module

Optional Attributes on page 237

• PowerFlex 755 Low and High Power, STO Only Network Safety Drive

Module Optional Attributes on page 243

• PowerFlex 755 Low and High Power, Advanced Safety Network Safety

Drive Module Optional Attributes on page 250

Drive Supported Optional

Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 137

The tables use the following abbreviations:

Key

Description

The attribute/enum/bit is supported.

Y# The attribute was not supported until the major revision of the drive.

(indicated by the # value)

The attribute/enum/bit is NOT supported.

The attribute is required.

The attribute is optional.

G Regenerative (Active) AC/DC Converters (No Control Mode, No Control Method)

N Non-regenerative (Passive) AC/DC and DC/DC Converters (No Control Mode, No Control Method

E Encoder, Feedback Only (No Control Mode, No Control Method)

Position Loop (Position Control Mode, Closed Loop Vector Control Method)

Velocity Loop (Velocity Control Mode, Close Loop Vector Control Method)

Torque Loop (Torque Control Mode, Closed Loop Vector Control Method)

Frequency Control (Velocity Control Mode, Frequency Control Method)

C/D

Controller/Device Replicated Attribute

AOP Special device-specific semantics needed from AOP

Co Controller only attribute (controller attribute that resides only in controller)

C/D Yes = The attribute is replicated in the drive

CScale Motion Scaling Configuration set to Controller Scaling

Derived

Implementation rules follow another attribute

Drive replicated attribute (controller attribute that is replicated in drive)

Drive Scaling

Drive device supports drive scaling functionality

DScale

Motion Scaling Configuration set to Drive Scaling

EnDat 2.1 and EnDAT 2.2 (feedback type)

Encoder-based control, a feedback device is present

!E Encoderless or sensorless control, a feedback device in not present

HI Hiperface (feedback type)

Rotary or Linear Induction Motor (motor type)

Linear Absolute

Feedback Unit - meter; Feedback n Startup Method- absolute

Linear Motor Linear PM motor or Linear Induction motor (motor type)

LT LDT or Linear Displacement Transducer (feedback type)

Motor NV or Drive NV (motor data source)

O-Bits Optional bits associated with bit mapped attribute

O-Enum

Optional enumerations associated with attribute

Rotary or Linear Permanent Magnet motor (motor type)

Rotary Absolute

Feedback Unit - rev; Feedback n Startup Method - absolute

Rotary Motor Rotary PM motor or Rotary Induction motor (motor type)

SC Sine/Cosine (feedback type)

SL Stahl SII (feedback type)

SSI (feedback type)

Tamagawa (feedback type)

Digital Parallel (feedback type)

Digital AqB (feedback type)

Chapter 3 Interpret the Attribute Tables

138 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Device Function Codes on page 107

Attribute Conversion from SERCOS to Integrated Motion on the

Ethernet/IP Network on page 133

MSG Instruction Access Only Attributes on page 257

A Kinetix 350 drive module supports the following optional attributes and

corresponding control mode functionalities:

Kinetix 350 Drive Module

Optional Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 139

Access

Rule

Attribute Name

Conditional Implementation

367

Get

Acceleration Fine Command

485

Set

Acceleration Limit

482

Get

Acceleration Reference

481

Set

Acceleration Trim

836

Set

Adaptive Tuning Configuration

844

Get

Adaptive Tuning Gain Scaling Factor

1376

Set

Actuator Diameter

DScale

1377 Set Actuator Diameter Unit N N N N N DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit N N N N N DScale

1373

Set

Actuator Type

DScale

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 Y - N N N N

734 Set Analog Output 1 Y - N N N N

735

Set

Analog Output 2

873 Set Auto Sag Configuration - - N N N N V26/V27

874 Set Auto Sag Slip Increment - - N N N N V26/V27

875 Set Auto Sag Slip Time Limit - - N N N N V26/V27

876 Set Auto Sag Start - - N N N N V26/V27

30 Set Axis Configuration R R R R R O-Enum

0 = Feedback Only (N)

1 = Frequency Control (N)

2 = Position Loop (Y)

3 = Velocity Loop (Y)

4 = Torque Loop (Y)

19 Set Axis Features R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (N)

7 = Motor Test (N)

8 = Inertia Test (Y)

9 = Sensorless Control (N)

986

Get

Axis Safety Data A

V31

987 Get Axis Safety Data B - - N N N N V31

763

Get

Axis Safety Faults

985

Get

Axis Safety Fault - RA

V31

760 Get Axis Safety State O O O O Y

761

Get

Axis Safety Status

984 Get Axis Safety Status - RA - N N N N N V31

Chapter 3 Interpret the Attribute Tables

140 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute Name

Conditional Implementation

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

2338

Get

Bus Output Overvoltage Factory Limit 1

Vxx

2358

Get

Bus Output Overvoltage Factory Limit 2

Vxx

2339

Get

Bus Output Undervoltage Factory Limit 1

Vxx

2359 Get Bus Output Undervoltage Factory Limit 2 N - N N N N Vxx

638/262 Get Bus Regulator Capacity - N N N N

659

Get

CIP Axis Alarms

904 Get CIP Axis Alarms - RA N N N N N

617 Set Coasting Time Limit - - N N N N V26/V27

850

Set

Commutation Offset Compensation

PM Motor only, V29

563

Set

Commutation Polarity

PM Motor only

562

Set

Commutation Self-Sensing Current

PM Motor only O-Value = #

618 Set Connection Loss Stopping Action - - N N N N O-Enum V31

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

637 Get Converter Capacity - N Y Y Y

2337 Get Converter Output Capacity 1 N - N N N N Vxx

2357

Get

Converter Output Capacity 2

Vxx

605

Get

Converter Output Current

V26/V27

2330 Get Converter Output Current 1 N - N N N N Vxx

2350

Get

Converter Output Current 2

Vxx

606 Get Converter Output Power N - N N N N V26/V27

2331

Get

Converter Output Power 1

Vxx

2351

Get

Converter Output Power 2

Vxx

2332 Get Converter Output Rated Current 1 N - N N N N Vxx

2352

Get

Converter Output Rated Current 2

Vxx

2333

Get

Converter Output Rated Power 1

Vxx

2353 Get Converter Output Rated Power 2 N - N N N N Vxx

840

Set

Current Disturbance

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

524 Get Current Reference - - Y Y Y

553 Set Current Vector Limit - N N N N

2334 Get DC Bus Output Voltage 1 N - N N N N Vxx

2354

Get

DC Bus Output Voltage 2

Vxx

742 Get DC Bus Output Voltage Reference N - N N N N Vxx

2336

Get

DC Bus Output Voltage Reference 1

Vxx

2356

Get

DC Bus Output Voltage Reference 2

Vxx

870

Set

DC Injection Brake Current

Ind Motor only

872

Set

DC Injection Brake Time

Ind Motor only

486

Set

Deceleration Limit

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 141

Access

Rule

Attribute Name

Conditional Implementation

730 Get Digital Inputs - N N N N

731

Set

Digital Outputs

1435

Set

Feedback 1 Accel Filter Bandwidth

2404 Set Feedback 1 Accel Filter Taps N - N N N

2405

Set

Feedback 1 Battery Absolute

1421

Set

Feedback 1 Data Code

TP,SS

1420 Set Feedback 1 Data Length N - N N N TP,SS

2400 Set Feedback 1 Loss Action N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414 Set Feedback 1 Polarity N - N N N

1425

Set

Feedback 1 Resolver Cable Balance

1424

Set

Feedback 1 Resolver Excitation Frequency

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401

Get

Feedback 1 Serial Number

1415 Set Feedback 1 Startup Method R - R R R O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter Bandwidth N - N N N

2454

Set

Feedback 2 Accel Filter Taps

2455 Set Feedback 2 Battery Absolute N - N N TM

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464 Set Feedback 2 Polarity O - N N N

1475

Set

Feedback 2 Resolver Cable Balance

1474

Set

Feedback 2 Resolver Excitation Frequency

1473 Set Feedback 2 Resolver Excitation Voltage N - N N N RS

1472

Set

Feedback 2 Resolver Transformer Ratio

1451 Get Feedback 2 Serial Number O - N N N

1465 Set Feedback 2 Startup Method R - R R R O-Enum

1 = Absolute (N)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - N N N O-Enum

2 = Motor Offset (N)

3 = Self-Sense (N)

31 Set* Feedback Configuration R R R R R O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (PVT/N)

4 = Dual Feedback (P/N)

8 = Dual Integrator Feedback (P/N)

708 Set Feedback Data Loss User Limit N N N N N

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

Chapter 3 Interpret the Attribute Tables

142 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute Name

Conditional Implementation

Set

Feedback Unit Ratio

871 Set Flux Braking Enable - N N N N Ind Motor only

528

Get

Flux Current Error

530 Get Flux Current Feedback - - N N N

525 Get Flux Current Reference - - N N N

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - N N N

558 Set Flux Up Control - N N N N Ind Motor only O-Enum

1 = Manual Delay (N)

2 = Automatic Delay (N)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - N - N -

381 Set Flying Start Method - - N - N - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (N)

129 = Sensorless Vector (N)

130 = Sensorless Vector Economy (N)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500 Set Friction Compensation Viscous - - N N N

826/421

Set

Friction Compensation Window

981/243

Get

Guard Faults

980/242 Get Guard Status - N Y Y Y

280

Set

Home Torque Threshold

Vxx

281 Set Home Torque Time - - - N N - Vxx

1349

Set

Induction Motor Magnetization Reactance

Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage Reactance - - N N N N Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348

Set

Induction Motor Stator Leakage Reactance

Ind Motor only, V26/V27

647

Set

Inverter Overload Action

O-Enum

1 = Current Foldback (Y) 128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699

Set

Inverter Thermal Overload User Limit

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration Estimate - - N N N

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - N N N O-Enum

1 = Load Observer Only (N)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

807

Set

Load Observer Integrator Bandwidth

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 143

Access

Rule

Attribute Name

Conditional Implementation

802

Get

Load Observer Torque Estimate

1370

Set

Load Type

DScale

750

Set

Local Control

O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614 Set Mechanical Brake Control - N Y Y Y

616

Set

Mechanical Brake Engage Delay

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3= Motor NV (N)

1323

Set

Motor Integral Thermal Switch

1324 Set Motor Max Winding Temperature - N N N N

646 Set Motor Overload Action - N Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695 Set Motor Overspeed User Limit - N N N N

694

Set

Motor Phase Loss Limit

V26/V27

1317

Set

Motor Polarity

1321

Set

Motor Rated Output Power

O-IM

1320

Set

Motor Rated Peak Current

O-IM

697

Set

Motor Thermal Overload User Limit

1315 Set Motor Type - R R R R O-Enum

1 = Rotary Permanent Magnet (Y)

2 = Rotary Induction (N)

3 = Linear Permanent Magnet (N)

4 = Linear Induction (N)

1325 Set Motor Winding to Ambient Capacitance - N Y Y Y

1326

Set

Motor Winding to Ambient Resistance

521

Get

Operative Current Limit

600 Get Output Frequency - R N N N

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355 Set PM Motor Extended Speed Permissive - - - N N N V29

2310

Set

PM Motor Flux Saturation

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1358 Set PM Motor Linear Bus Overvoltage Speed - - - N N N V29

1359

Set

PM Motor Linear Max Extended Speed

V29

2314 Set PM Motor Lq Flux Saturation - - N N N N IPM Motor only, V29/V29

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29/V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - N Y Y Y Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage Speed - - - N N N V29

1357

Set

PM Motor Rotary Max Extended Speed

V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

Chapter 3 Interpret the Attribute Tables

144 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute Name

Conditional Implementation

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446 Set Position Integrator Control - - R - - O-Bits

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter Bandwidth

782

Set

Position Lead Lag Filter Gain

783 Set Position Notch Filter Frequency - - Y - -

627 Set Power Loss Action - N N N N O-Enum

2 = Decel Regen (N)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590 Set Proving Configuration - - N N N N V26/V27

376

Set*

Ramp Acceleration

Derived

377

Set*

Ramp Deceleration

Derived

378 Set Ramp Jerk Control - N - N -

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - N - N - Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - N N N N Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

629 Set Shutdown Action - N N N N O-Enum

1 = Drop DC Bus (N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - N - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - N -

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - R R R R O-Enum

2 = Ramped Decel Disable (FPV/N)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (PV/N)

128 = DC Injection Brake (IM/N)

129 = AC Injection Brake (IM/N)

612

Set

Stopping Time Limit

496 Set System Inertia - - R R N

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - N N N

828

Set

Torque Lead Lag Filter Gain

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - N N N V26/V27

503 Set Torque Notch Filter Frequency - - Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 145

Access

Rule

Attribute Name

Conditional Implementation

841

Get

Torque Notch Filter Frequency Estimate

V26/V27

837

Set

Torque Notch Filter High Frequency Limit

V26/V27

838

Set

Torque Notch Filter Low Frequency Limit

V26/V27

842

Get

Torque Notch Filter Magnitude Estimate

V26/V27

839

Set

Torque Notch Filter Tuning Threshold

V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334 Set Torque Threshold - - N N N

1371 Set Transmission Ratio Input N N N N N DScale

1372

Set

Transmission Ratio Output

DScale

510

Set

Undertorque Limit

511 Set Undertorque Limit Time - N Y Y Y

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - R R - O-Bits

1: Auto-Preset (N)

468 Set Velocity Integrator Preload - - N N -

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

471 Set Velocity Lock Tolerance - N Y Y -

469

Set

Velocity Low Pass Filter Bandwidth

790

Set

Velocity Negative Feedforward Gain

470/327 Set Velocity Threshold - N Y Y -

589 Set Vertical Load Control - - N N N - V31

608 Set Zero Speed - - N N N N V26/V27

609

Set

Zero Speed Time

V26/V27

The hardwired Kinetix 5500 drive modules include the following catalog

numbers:

• 2198-H003-ERS, Kinetix 5500, 1A, 195-528 Volt, Safe Torque Off Drive

• 2198-H008-ERS, Kinetix 5500, 2.5A, 195-528 Volt, Safe Torque Off Drive

• 2198-H015-ERS, Kinetix 5500, 5 A, 195 – 528 Volt, Safe Torque Off Drive

• 2198-H025-ERS, Kinetix 5500, 8A, 195- 528 Volt, Safe Torque Off Drive

• 2198-H040-ERS, Kinetix 5500, 13 A, 192-528 Volt, Safe Torque Off Drive

• 2198-H070-ERS Kinetix 5500, 23 A,195–528 Volt, Safe Torque Off Drive

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in the following table:

Access

Rule

Attribute

Conditional Implementation

367

Get

Acceleration Fine Command

485 Set Acceleration Limit - - N Y Y N

482

Get

Acceleration Reference

481

Set

Acceleration Trim

Kinetix 5500 Hardwired STO

Drive Module Optional

Attributes

Chapter 3 Interpret the Attribute Tables

146 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

1376

Set

Actuator Diameter

DScale

1377

Set

Actuator Diameter Unit

DScale

1374

Set

Actuator Lead

DScale

1375

Set

Actuator Lead Unit

DScale

1373

Set

Actuator Type

DScale

836

Set

Adaptive Tuning Configuration

V26/V27

844

Get

Adaptive Tuning Gain Scaling Factor

V26/V27

732/267 Get Analog Input 1 N - N N N N

733/268 Get Analog Input 2 N - N N N N

734

Set

Analog Output 1

735 Set Analog Output 2 N - N N N N

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875

Set

Auto Sag Time Limit

V26/V27

876

Set

Auto Sag Start

V26/V27

30 Set Axis Configuration - R R R R R O-Enum0 = Feedback Only (Y) 1 = Frequency Control (Y)

2 = Position Loop (Y) 3 = Velocity Loop (Y) 4 = Torque

Loop (Y)

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (N)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos. (N) Vxx

13 = Ext. Motor Test (N) V29

14 = Control Mode Change (N) V26/V27

15 = Feedback Mode Change (N) Vxx

16 = Pass Bus Status (N) V26/V27

17 = Pass Bus Unload (N) V26/V27

18 = Ext. Speed for SPM (N) V29

19 = Ext. Speed for IPM (N) V29

763

Get

Axis Safety Faults

V24

760

Get

Axis Safety State

V24

761

Get

Axis Safety Status

V24

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

2338

Get

Bus Output Overvoltage Factory Limit 1

Vxx

2358 Get Bus Output Overvoltage Factory Limit 2 N - N N N N Vxx

2339 Get Bus Output Undervoltage Factory Limit

N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory Limit

N - N N N N Vxx

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 147

Access

Rule

Attribute

Conditional Implementation

638/262

Get

Bus Regulator Capacity

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

850

Set

Commutation Offset Compensation

PM Motor only, V29

563

Set

Commutation Polarity

PM Motor only

562

Set

Commutation Self-Sensing Current

PM Motor only

637 Get Converter Capacity N - Y Y Y Y

2337 Get Converter Output Capacity 1 N - N N N N Vxx

2357

Get

Converter Output Capacity 2

Vxx

605 Get Converter Output Current N - Y Y Y Y V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Power

V26/V27

2331

Get

Converter Output Power 1

Vxx

2351

Get

Converter Output Power 2

Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352 Get Converter Output Rated Current 2 N - N N N N Vxx

2333

Get

Converter Output Rated Power 1

Vxx

2353

Get

Converter Output Rated Power 2

Vxx

840

Set

Current Disturbance

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

F Support in V29

524

Get

Current Reference

553

Set

Current Vector Limit

2334

Get

DC Bus Output Voltage 1

Vxx

2354

Get

DC Bus Output Voltage 2

Vxx

742

Get

DC Bus Output Voltage Reference

Vxx

2336

Get

DC Bus Output Voltage Reference 1

Vxx

2356

Get

DC Bus Output Voltage Reference 2

Vxx

870 Set DC Injection Brake Current - - N N N N

872

Set

DC Injection Brake Time

486

Set

Deceleration Limit

730 Get Digital Inputs N - N N N N

731

Set

Digital Outputs

1435

Set

Feedback 1 Accel Filter Bandwidth

2404 Set Feedback 1 Accel Filter Taps - Y - Y Y Y

2405

Set

Feedback 1 Battery Absolute

1421

Set

Feedback 1 Data Code

TP,SS

1420 Set Feedback 1 Data Length - N - N N N TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N) 2 = Switch to

Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425 Set Feedback 1 Resolver Cable Balance - N - N N N RS

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

Chapter 3 Interpret the Attribute Tables

148 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

1422

Set

Feedback 1 Resolver Transformer Ratio

1401

Get

Feedback 1 Serial Number

1415

Set

Feedback 1 Startup Method

O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N

2454 Set Feedback 2 Accel Filter Taps - N - N N N

2455 Set Feedback 2 Battery Absolute - N - N N N TM

1471

Set

Feedback 2 Data Code

TP,SS

1470 Set Feedback 2 Data Length - N - N N N TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N) 2 = Switch to

Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472 Set Feedback 2 Resolver Transformer

Ratio

- N - N N N RS

1451 Get Feedback 2 Serial Number - N - N N N

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1 = Absolute (N)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (Y) 3 = Self-Sense (N)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N)(V/N)(T/N) 4 = Dual Feedback

(P/N)

8 = Dual Integrator Feedback (P/N)

708 Set Feedback Data Loss User Limit - Y Y Y Y Y

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

44 Set Feedback Unit Ratio - - - N N -

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530 Get Flux Current Feedback - - - Y Y Y

525

Get

Flux Current Reference

557 Set Flux Integral Time Constant - - - N N N

556 Set Flux Loop Bandwidth - - - N N N

558 Set Flux Up Control - - Y Y Y Y Ind Motor only O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - N - N -

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 149

Access

Rule

Attribute

Conditional Implementation

381 Set Flying Start Method - - N - N - 0-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y) 129 = Sensorless Vector

(Y)

130 = Sensorless Vector Economy (N)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500 Set Friction Compensation Viscous - - - Y Y Y4

826/421

Set

Friction Compensation Window

981/243

Get

Guard Faults

980/242 Get Guard Status - - Y Y Y Y

280

Set

Home Torque Threshold

Vxx

281

Set

Home Torque Time

Vxx

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y) 128 = Reduce PWM Rate (N) 129 =

PWM Foldback (N)

699

Set

Inverter Thermal Overload User Limit

1338 Set Linear Motor Damping Coefficient - - N N N N Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337 Set Linear Motor Max Speed - - N Y Y Y Linear Motor only

801

Get

Load Observer Acceleration Estimate

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - Y Y Y O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (Y) 3 = Velocity

Estimate Only (Y)

4 = Acceleration Feedback (N)

809 Set Load Observer Feedback Gain - - - Y Y Y

807

Set

Load Observer Integrator Bandwidth

802

Get

Load Observer Torque Estimate

1370

Set

Load Type

DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N) 2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - Y Y Y Y

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

Chapter 3 Interpret the Attribute Tables

150 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

1313 Set Motor Data Source - - R R R R O-Enum

1 = Database (Y) 2 = Drive NV (N) 3 = Motor NV (Y)

1323

Set

Motor Integral Thermal Switch

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695

Set

Motor Overspeed User Limit

694 Set Motor Phase Loss Limit - - N N N N V26/V27

1317

Set

Motor Polarity

1321 Set Motor Rated Output Power - - Y Y Y Y O-PM

1320

Set

Motor Rated Peak Current

O-IM

697

Set

Motor Thermal Overload User Limit

1001 Get Motor Test Comm Offset Comp - - R R R R IPM Motor Only, V29

999

Get

Motor Test Ld Flux Saturation

IPM Motor Only, V29

997

Get

Motor Test Ld Inductance

IPM Motor Only, V29

998

Gett

Motor Test Lq Flux Saturation

IPM Motor Only, V29

996

Get

Motor Test Lq Inductance

IPM Motor Only, V29

1000

Get

Motor Test Max Speed

IPM Motor Only, V29

1315 Set Motor Type - - R R R R O-Enum

1 = Rotary Permanent Magnet (Y) 2 = Rotary Induction (Y)

3 = Linear Permanent Magnet (N) 4 = Linear Induction (N)

1325 Set Motor Winding to Ambient Capacitance - - Y5 Y Y Y

1326

Set

Motor Winding to Ambient Resistance

521 Get Operative Current Limit - - Y7 Y Y Y F Support in V29

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355

Set

PM Motor Extended Speed Permissive

V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343 Set PM Motor Force Constant - - N Y Y Y Rotary PM Motor only

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29

1358 Set PM Motor Linear Bus Overvoltage

Speed

- - - N N N V29

1359

Set

PM Motor Linear Max Extended Speed

V29

2314 Set PM Motor Lq Flux Saturation - - N N N N IPM Motor only, V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - - N N N V29

1357 Set PM Motor Rotary Max Extended Speed - - - N N N V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bit

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781 Set Position Lead Lag Filter Bandwidth - - - Y - -

782

Set

Position Lead Lag Filter Gain

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 151

Access

Rule

Attribute

Conditional Implementation

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - - N N N N O-Enum

2 = Decel Regen (N)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376 Set* Ramp Acceleration - - N - N - Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375 Set* Ramp Velocity - Negative - - N - N - Derived

374

Set*

Ramp Velocity - Positive

Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333 Set Rotary Motor Damping Coefficient - - N N N N Rotary Motor only

2312

Set

Rotary Motor Fan Cooling Derating

Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330 Set Rotary Motor Inertia - - N Y Y Y Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

765 Set Safe Torque Off Action - - N N N N 0-Enum

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N) 128 = DC Injection Brake

(FPVT/N) 129 = AC Injection Brake (FPVT/N)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - - Y -

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/Y) V26/V27 2 = Ramped Decel

Disable (FV/N)

3 = Current Decel Hold (PV/Y) 4 = Ramped Decel Hold

(V/N)

128 = DC Injection Brake (FPVT/N) 129 = AC Injection

Brake (FPVT/N)

612

Set

Stopping Time Limit

F Support in V29

496 Set System Inertia - - - R R N

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828

Set

Torque Lead Lag Filter Gain

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - Y Y Y V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - Y Y Y V26/V27

Chapter 3 Interpret the Attribute Tables

152 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

837 Set Torque Notch Filter High Frequency

Limit

- - - Y Y Y V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - - Y Y Y V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - - Y Y Y V26/V27

839 Set Torque Notch Filter Tuning Threshold - - - Y Y Y V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510 Set Undertorque Limit - - N Y Y Y

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466

Set

Velocity Error Tolerance Time

366 Get Velocity Fine Command - - - Y Y -

467 Set Velocity Integrator Control - - - R R - O-Bits

1: Auto-Preset (N)

468

Set

Velocity Integrator Preload

475 Set Velocity Limit - Bus Overvoltage - - - N N - V29

477 Set Velocity Limit - Bus Overvoltage

Permissive

- - - N N - V29

476 Set Velocity Limit - Motor Max - - - N N - V29

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458 Get Velocity Limit Source - - - Y Y - V29

471

Set

Velocity Lock Tolerance

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - - Y Y -

470/327

Set

Velocity Threshold

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y5 Y Y Y V26/V27

The integrated Kinetix 5500 drive modules include the following catalog

numbers:

• 2198-H003-ERS2, Kinetix 5500, 1A, 195-528 Volt, CIP Safe Torque Off

Drive

• 2198-H008-ERS2, Kinetix 5500, 2.5A, 195-528 Volt, CIP Safe Torque Off

Drive

• 2198-H015-ERS2, Kinetix 5500, 5 A, 195 – 528 Volt, CIP Safe Torque Off

Drive

• 2198-H025-ERS2, Kinetix 5500, 8A, 195- 528 Volt, CIP Safe Torque Off

Drive

Kinetix 5500 Integrated STO

Drive Module Optional

Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 153

• 2198-H040-ERS2, Kinetix 5500, 13 A, 192-528 Volt, CIP Safe Torque Off

Drive

• 2198-H070-ERS2 Kinetix 5500, 23 A,195–528 Volt, CIP Torque Off Drive

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in the following table:

Access

Rule

Attribute

Conditional Implementation

367

Get

Acceleration Fine Command

485

Set

Acceleration Limit

482

Get

Acceleration Reference

481

Set

Acceleration Trim

1376

Set

Actuator Diameter

DScale

1377

Set

Actuator Diameter Unit

DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit N N N N N DScale

1373

Set

Actuator Type

DScale

836

Set

Adaptive Tuning Configuration

V26/V27

844 Get Adaptive Tuning Gain Scaling Factor - - Y Y Y V26/V27

732/267 Get Analog Input 1 N - N N N N

733/268

Get

Analog Input 2

734

Set

Analog Output 1

735

Set

Analog Output 2

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875

Set

Auto Sag Time Limit

V26/V27

876

Set

Auto Sag Start

V26/V27

30 Set Axis Configuration R R R R R O-Enum

0 = Feedback Only (Y)

1 = Frequency Control (Y)

2 = Position Loop (Y)

3 = Velocity Loop (Y)

4 = Torque Loop (Y)

Chapter 3 Interpret the Attribute Tables

154 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (N)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos. (N) Vxx

13 = Ext. Motor Test (N) V29

14 = Control Mode Change (N) V26/V27

15 = Feedback Mode Change (N) Vxx

16 = Pass Bus Status (N) V26/V27

17 = Pass Bus Unload (N) V26/V27

18 = Ext. Speed for SPM (N) V29

19 = Ext. Speed for IPM (N) V29

763 Get Axis Safety Faults Y4 Y Y Y Y V24

760

Get

Axis Safety State

V24

761

Get

Axis Safety Status

V24

825 Set Backlash Compensation Window - - Y - -

593

Set

Brake Prove Ramp Time

V26/V27

594 Set Brake Slip Tolerance - Y5 Y Y Y V26/V27

592

Set

Brake Test Torque

V26/V27

2338

Get

Bus Output Overvoltage Factory Limit 1

Vxx

2358 Get Bus Output Overvoltage Factory Limit 2 N - N N N N Vxx

2339 Get Bus Output Undervoltage Factory Limit

N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory Limit

N - N N N N Vxx

638/262

Get

Bus Regulator Capacity

659 Get CIP Axis Alarms N Y Y Y Y Y

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

850

Set

Commutation Offset Compensation

PM Motor only, V29

563 Set Commutation Polarity - - N N N PM Motor only

562

Set

Commutation Self-Sensing Current

PM Motor only

637

Get

Converter Capacity

2337 Get Converter Output Capacity 1 N - N N N N Vxx

2357

Get

Converter Output Capacity 2

Vxx

605 Get Converter Output Current N - Y Y Y Y V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606 Get Converter Output Power N - Y Y Y Y V26/V27

2331

Get

Converter Output Power 1

Vxx

2351

Get

Converter Output Power 2

Vxx

2332

Get

Converter Output Rated Current 1

Vxx

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 155

Access

Rule

Attribute

Conditional Implementation

2352

Get

Converter Output Rated Current 2

Vxx

2333

Get

Converter Output Rated Power 1

Vxx

2353

Get

Converter Output Rated Power 2

Vxx

840

Set

Current Disturbance

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

F Support in V29

524 Get Current Reference - - Y Y Y

553 Set Current Vector Limit - Y Y Y Y

2334

Get

DC Bus Output Voltage 1

Vxx

2354 Get DC Bus Output Voltage 2 N - N N N N Vxx

742

Get

DC Bus Output Voltage Reference

Vxx

2336

Get

DC Bus Output Voltage Reference 1

Vxx

2356

Get

DC Bus Output Voltage Reference 2

Vxx

870

Set

DC Injection Brake Current

872

Set

DC Injection Brake Time

486 Set Deceleration Limit - N Y Y N

730

Get

Digital Inputs

731

Set

Digital Outputs

1435 Set Feedback 1 Accel Filter Bandwidth Y - Y Y Y

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code N - N N N TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425 Set Feedback 1 Resolver Cable Balance N - N N N RS

1424 Set Feedback 1 Resolver Excitation

Frequency

N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401

Get

Feedback 1 Serial Number

1415 Set Feedback 1 Startup Method R - R R R O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403 Set Feedback 1 Velocity Filter Taps Y - Y Y Y

1485

Set

Feedback 2 Accel Filter Bandwidth

2454

Set

Feedback 2 Accel Filter Taps

2455 Set Feedback 2 Battery Absolute N - N N N TM

1471

Set

Feedback 2 Data Code

TP,SS

1470 Set Feedback 2 Data Length N - N N N TP,SS

2450 Set Feedback 2 Loss Action N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475

Set

Feedback 2 Resolver Cable Balance

Chapter 3 Interpret the Attribute Tables

156 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

1474 Set Feedback 2 Resolver Excitation

Frequency

N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472 Set Feedback 2 Resolver Transformer

Ratio

N - N N N RS

1451 Get Feedback 2 Serial Number N - N N N

1465 Set Feedback 2 Startup Method R - R R R O-Enum

1 = Absolute (N)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453 Set Feedback 2 Velocity Filter Taps N - N N N

250 Set Feedback Commutation Aligned - - Y Y Y O-Enum

2 = Motor Offset (Y)

3 = Self-Sense (N)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N)(V/N)T/N)

4 = Dual Feedback (P/N)

8 = Dual Integrator Feedback (P/N)

708 Set Feedback Data Loss User Limit Y Y Y Y Y

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530

Get

Flux Current Feedback

525 Get Flux Current Reference - - Y Y Y

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - N N N

558 Set Flux Up Control - Y Y Y Y Ind Motor only

O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559 Set Flux Up Time - Y Y Y Y Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - N - N - 0-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (N)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500

Set

Friction Compensation Viscous

826/421 Set Friction Compensation Window - - Y - -

981/243

Get

Guard Faults

980/242

Get

Guard Status

280 Set Home Torque Threshold - - N N - Vxx

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 157

Access

Rule

Attribute

Conditional Implementation

281

Set

Home Torque Time

Vxx

1349 Set Induction Motor Magnetization

Reactance

- N N N N Ind Motor only

1352 Set Induction Motor Rated Slip Speed - Y N N N Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- Y Y Y Y Ind Motor only, V26/V27

647

Set

Inverter Overload Action

O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699

Set

Inverter Thermal Overload User Limit

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336 Set Linear Motor Mass - N Y Y Y Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration Estimate

806

Set

Load Observer Bandwidth

805

Set

Load Observer Configuration

O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (Y)

3 = Velocity Estimate Only (Y)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator Bandwidth - - Y Y Y

802

Get

Load Observer Torque Estimate

1370 Set Load Type N N N N N DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - Y Y Y Y

45 Set Motion Scaling Configuration R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3 = Motor NV (Y)

1323

Set

Motor Integral Thermal Switch

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - Y Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695 Set Motor Overspeed User Limit - Y5 Y Y Y

694

Set

Motor Phase Loss Limit

V26/V27

Chapter 3 Interpret the Attribute Tables

158 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

1317

Set

Motor Polarity

1321

Set

Motor Rated Output Power

O-PM

1320

Set

Motor Rated Peak Current

O-IM

697

Set

Motor Thermal Overload User Limit

1001

Get

Motor Test Comm Offset Comp

IPM Motor Only, V29

999

Get

Motor Test Ld Flux Saturation

IPM Motor Only, V29

997

Get

Motor Test Ld Inductance

IPM Motor Only, V29

998 Gett Motor Test Lq Flux Saturation - R R R R IPM Motor Only, V29

996 Get Motor Test Lq Inductance - R R R R IPM Motor Only, V29

1000

Get

Motor Test Max Speed

IPM Motor Only, V29

1315 Set Motor Type - R R R R O-Enum

1 = Rotary Permanent Magnet (Y)

2 = Rotary Induction (Y)

3 = Linear Permanent Magnet (N)

4 = Linear Induction (N)

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521 Get Operative Current Limit - Y7 Y Y Y F Support in V29

600

Get

Output Frequency

508

Set

Overtorque Limit

509 Set Overtorque Limit Time - N Y Y Y

1355

Set

PM Motor Extended Speed Permissive

V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343 Set PM Motor Force Constant - N Y Y Y Rotary PM Motor only

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29

1358 Set PM Motor Linear Bus Overvoltage

Speed

- - N N N V29

1359 Set PM Motor Linear Max Extended Speed - - N N N V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - N Y Y Y Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - N N N V29

1357

Set

PM Motor Rotary Max Extended Speed

V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446

Set

Position Integrator Control

O-Bit

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter Bandwidth

782 Set Position Lead Lag Filter Gain - - Y - -

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - N N N N O-Enum

2 = Decel Regen (N)

628 Set Power Loss Threshold N - N N N N

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 159

Access

Rule

Attribute

Conditional Implementation

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374

Set*

Ramp Velocity - Positive

Derived

613/354 Set Resistive Brake Contact Delay - N N N N PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - N N N N Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332 Set Rotary Motor Max Speed - Y Y Y Y Rotary Motor only

765 Set Safe Torque Off Action - N N N N 0-Enum

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372 Set Skip Speed 3 - N - - -

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - Y -

834 Set SLAT Set Point - - - Y -

835

Set

SLAT Time Delay

610 Set Stopping Action - R R R R O-Enum

1 = Current Decel Disable (F/Y) V26/V27

2 = Ramped Decel Disable (FV/N)

3 = Current Decel Hold (PV/Y)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612

Set

Stopping Time Limit

F Support in V29

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828

Set

Torque Lead Lag Filter Gain

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - Y Y Y V26/V27

503 Set Torque Notch Filter Frequency - - Y Y Y

841 Get Torque Notch Filter Frequency

Estimate

- - Y Y Y V26/V27

837 Set Torque Notch Filter High Frequency

Limit

- - Y Y Y V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - Y Y Y V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - Y Y Y V26/V27

839

Set

Torque Notch Filter Tuning Threshold

V26/V27

Chapter 3 Interpret the Attribute Tables

160 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371 Set Transmission Ratio Input N N N N N DScale

1372 Set Transmission Ratio Output N N N N N DScale

510

Set

Undertorque Limit

511 Set Undertorque Limit Time - N Y Y Y

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466 Set Velocity Error Tolerance Time - - Y Y -

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - R R - O-Bits

1: Auto-Preset (N)

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458 Get Velocity Limit Source - - Y Y - V29

471

Set

Velocity Lock Tolerance

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - Y Y -

470/327

Set

Velocity Threshold

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - Y5 Y Y Y V26/V27

The Kinetix 5700 single-axis and dual-axis model drives include the following

catalog numbers:

• 2198-S086-ERS3, 43A, 458-747 Volt DC, Network Safety STO Drive

• 2198-S130-ERS3, 65A, 458-747 Volt DC, Network Safety STO Drive

• 2198-S160-ERS3, 85A, 458-747 Volt DC, Network Safety STO Drive

• 2198-D006-ERS3, 2.5A, 458-747 Volt DC, Network Safety STO Drive

• 2198-D0012-ERS3, 5A, 458-747 Volt DC, Network Safety STO Drive

• 2198-D020-ERS3, 8A, 458-747 Volt DC, Network Safety STO Drive

• 2198-D032-ERS3, 13A, 458-747 Volt DC, Network Safety STO Drive

• 2198-D057-ERS3, 23A, 458-747 Volt DC, Network Safety STO Drive

Kinetix 5700 Safety Drive

Module Optional Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 161

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in the following table:

Access Rule

Attribute Name

Conditional Implementation

367

Get

Acceleration Fine Command

485 Set Acceleration Limit - - Y Y Y Y

482

Get

Acceleration Reference

481

Set

Acceleration Trim

836 Set Adaptive Tuning Configuration - - - Y Y Y V26/V27

844 Get Adaptive Tuning Gain Scaling

Factor

- - - Y Y Y V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N - N N N N

734

Set

Analog Output 1

735

Set

Analog Output 2

873 Set Auto Sag Configuration - - N N N N V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

876

Set

Auto Sag Start

V26/V27

19 Set Axis Features R R R R R R O-Bits

0: Fine Interpolation (Y)

1: Registration Auto-rearm (Y)

2: Alarm Log (Y)

5: Hookup Test (Y)

6: Commutation Test (Y)

7: Motor Test (Y)

8: Inertia Test (Y)

9: Sensorless Control (N)

10: Drive Scaling (N) Vxx

11: Ext. Event Block (N) Vxx

12: Integer Cmd. Pos. (N) Vxx

13: Ext. Motor Test (N) V29

14: Control Mode Change (N) V26/V27

15: Feedback Mode Change (N) Vxx

16: Pass Bus Status (Y) V26/V27

17: Pass Bus Unload (Y) V26/V27

18: Ext. Speed for SPM (N) V29

19: Ext. Speed for IPM (Y) V29

986 Get Axis Safety Data A - - Y Y Y Y V31

987

Get

Axis Safety Data B

V31

763 Get Axis Safety Faults - Y Y Y Y Y V24

985

Get

Axis Safety Faults - RA

V31

760

Get

Axis Safety State

V24

761

Get

Axis Safety Status

V24

984

Get

Axis Safety Status - RA

V31

825

Set

Backlash Compensation Window

593 Set Brake Prove Ramp Time - - N N N N V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

2338 Get Bus Output Overvoltage Factory

Limit 1

N - N N N N Vxx

Chapter 3 Interpret the Attribute Tables

162 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

2358 Get Bus Output Overvoltage Factory

Limit 2

N - N N N N Vxx

2339 Get Bus Output Undervoltage Factory

Limit 1

N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory

Limit 2

N - N N N N Vxx

638/262 Get Bus Regulator Capacity N - N N N N

659

Get

CIP Axis Alarms

904 Get CIP Axis Alarms - RA N Y Y Y Y Y

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset

Compensation

- - N N N PM Motor only, V29

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing

Current

- - - N N N PM Motor only

618 Set Connection Loss Stopping Action - - Y Y Y Y O-Enum V31

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

637

Get

Converter Capacity

2337

Get

Converter Output Capacity 1

Vxx

2357

Get

Converter Output Capacity 2

Vxx

605 Get Converter Output Current N - N N N N V26/V27

2330

Get

Converter Output Current 1

Vxx

2350 Get Converter Output Current 2 N - N N N N Vxx

606

Get

Converter Output Power

V26/V27

2331 Get Converter Output Power 1 N - N N N N Vxx

2351 Get Converter Output Power 2 N - N N N N Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352

Get

Converter Output Rated Current 2

Vxx

2333 Get Converter Output Rated Power 1 N - N N N N Vxx

2353

Get

Converter Output Rated Power 2

Vxx

840

Set

Current Disturbance

527 Get Current Error - - - Y Y Y

529 Get Current Feedback - - - Y Y Y

522

Get

Current Limit Source

(F/V29)

524

Get

Current Reference

553

Set

Current Vector Limit

2334

Get

DC Bus Output Voltage 1

Vxx

2354

Get

DC Bus Output Voltage 2

Vxx

742 Get DC Bus Output Voltage Reference N - N N N N Vxx

2336 Get DC Bus Output Voltage Reference

N - N N N N Vxx

2356 Get DC Bus Output Voltage Reference

N - N N N N Vxx

870 Set DC Injection Brake Current - - N N N N

872

Set

DC Injection Brake Time

486

Set

Deceleration Limit

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 163

Access Rule

Attribute Name

Conditional Implementation

730

Get

Digital Inputs

731

Set

Digital Outputs

1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y

2404

Set

Feedback 1 Accel Filter Taps

2405 Set Feedback 1 Battery Absolute - N - N N N TM

1421

Set

Feedback 1 Data Code

TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414 Set Feedback 1 Polarity - Y - Y Y Y

1425 Set Feedback 1 Resolver Cable

Balance

- N - N N N RS

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

1423 Set Feedback 1 Resolver Excitation

Voltage

- N - N N N RS

1422

Set

Feedback 1 Resolver Transformer

Ratio

1401

Get

Feedback 1 Serial Number

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1434 Set Feedback 1 Velocity Filter

Bandwidth

- Y - Y Y Y

2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y

1485 Set Feedback 2 Accel Filter

Bandwidth

- Y - Y Y Y

2454

Set

Feedback 2 Accel Filter Taps

2455 Set Feedback 2 Battery Absolute - N - N N N TM

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475 Set Feedback 2 Resolver Cable

Balance

- N - N N N RS

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473 Set Feedback 2 Resolver Excitation

Voltage

- N - N N N RS

1472 Set Feedback 2 Resolver Transformer

Ratio

- N - N N N RS

1451 Get Feedback 2 Serial Number - Y - Y Y Y

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1484 Set Feedback 2 Velocity Filter

Bandwidth

- Y - Y Y Y

2453

Set

Feedback 2 Velocity Filter Taps

Chapter 3 Interpret the Attribute Tables

164 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (Y)

3 = Self-Sense (N)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (P/Y)(V/Y)(T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/N)

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707 Set Feedback Signal Loss User Limit - Y Y Y Y Y

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528 Get Flux Current Error - - - Y Y Y

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557 Set Flux Integral Time Constant - - - N N N

556

Set

Flux Loop Bandwidth

558 Set Flux Up Control - - Y Y Y Y Ind Motor only

O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - N - Y - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (N)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500

Set

Friction Compensation Viscous

826/421 Set Friction Compensation Window - - - Y - -

981/243

Get

Guard Faults

980/242

Get

Guard Status

280 Set Home Torque Threshold - - - N N - Vxx

281

Set

Home Torque Time

Vxx

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 165

Access Rule

Attribute Name

Conditional Implementation

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699 Set Inverter Thermal Overload User

Limit

- - Y Y Y Y

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration

Estimate

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - Y Y Y O-Enum

1 = Load Observer Only (Y)

2 = Load Observer With Velocity Estimate (Y)

3 = Velocity Estimate Only (Y)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator

Bandwidth

- - - Y Y Y

802 Get Load Observer Torque Estimate - - - Y Y Y

1370

Set

Load Type

DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616 Set Mechanical Brake Engage Delay - - Y Y Y Y

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3 = Motor NV (Y)

1323 Set Motor Integral Thermal Switch - - Y Y Y Y

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695 Set Motor Overspeed User Limit - - Y Y Y Y

694

Set

Motor Phase Loss Limit

V26/V27

1317 Set Motor Polarity - - Y Y Y Y

1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM

1320

Set

Motor Rated Peak Current

Y-IM

697 Set Motor Thermal Overload User

Limit

- - Y Y Y Y

1325 Set Motor Winding to Ambient

Capacitance

- - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

166 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

1326 Set Motor Winding to Ambient

Resistance

- - Y Y Y Y

521

Get

Operative Current Limit

F Support in V29

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355

Set

PM Motor Extended Speed

Permissive

V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1358

Set

PM Motor Linear Bus Overvoltage

Speed

V29

1359 Set PM Motor Linear Max Extended

Speed

- - - N N N V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29/V29

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29/V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - - Y Y Y V29

1357 Set PM Motor Rotary Max Extended

Speed

- - - Y Y Y V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365 Get Position Fine Command - - - Y - -

446 Set Position Integrator Control - - - R - - O-Bits

1: Auto-Preset (Y)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter

Bandwidth

782

Set

Position Lead Lag Filter Gain

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - - N N N N O-Enum

2 = Decel Regen (N)

628

Set

Power Loss Threshold

630 Set Power Loss Time N - N N N N

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377 Set* Ramp Deceleration - - Y - Y - Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - Y - Y - Derived

613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330 Set Rotary Motor Inertia - - Y Y Y Y Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 167

Access Rule

Attribute Name

Conditional Implementation

766 Set Safe Stopping Action - - Y Y Y Y O-Enum V31

1 = Current Decel (F/Y)

2 = Ramped Decel (FV/Y)

767 Set Safe Stopping Action Source - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

765 Set Safe Torque Off Action - - Y Y Y Y O-Enum V26/V27

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

759 Set Safe Torque Off Action Source - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372

Set

Skip Speed 3

373 Set Skip Speed Band - - Y - - -

833

Set

SLAT Configuration

834

Set

SLAT Set Point

835 Set SLAT Time Delay - - - - Y -

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/Y) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/Y)

4 = Ramped Decel Hold (V/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612 Set Stopping Time Limit - - Y7 Y Y Y (F/V26/V27)

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - - Y Y Y

828

Set

Torque Lead Lag Filter Gain

554 Set Torque Loop Bandwidth - - - Y Y Y

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - Y Y Y V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - Y Y Y V26/V27

837 Set Torque Notch Filter High

Frequency Limit

- - - Y Y Y V26/V27

838 Set Torque Notch Filter Low

Frequency Limit

- - - Y Y Y V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - - Y Y Y V26/V27

839 Set Torque Notch Filter Tuning

Threshold

- - - Y Y Y V26/V27

591

Set

Torque Prove Current

V26/V27

506 Set Torque Rate Limit - - - Y Y Y

507/334

Set

Torque Threshold

Chapter 3 Interpret the Attribute Tables

168 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321 Set Velocity Droop - - Y4 Y Y -

465

Set

Velocity Error Tolerance

466 Set Velocity Error Tolerance Time - - - Y Y -

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1: Auto-Preset (Y)

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458 Get Velocity Limit Source - - Y Y - V29

471

Set

Velocity Lock Tolerance

469 Set Velocity Low Pass Filter

Bandwidth

- - - Y Y -

790 Set Velocity Negative Feedforward

Gain

- - - Y Y -

470/327 Set Velocity Threshold - Y Y Y Y Y

589

Set

Vertical Load Control

V31

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The Kinetix 5700 advanced safety drive modules include the following catalog

numbers:

• 2198-S086-ERS4, 43A, Inverter, Advanced Safety Drive

• 2198-S130-ERS4, 65A, Inverter, Advanced Safety Drive

• 2198-S160-ERS4, 85A, Inverter, Advanced Safety Drive

• 2198-D006-ERS4, 2x2 5A, Dual-Axis Inverter, Advanced Safety Drive

• 2198-D0012-ERS4, 2x5A, Dual-Axis Inverter, Advanced Safety Drive

• 2198-D020-ERS4, 2x8A, Dual-Axis Inverter, Advanced Safety Drive

• 2198-D032-ERS4, 2x13A, Dual-Axis Inverter, Advanced Safety Drive

• 2198-D057-ERS4, 2x23A, Dual-Axis Inverter, Advanced Safety Drive

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in the following table:

Access Rule

Attribute Name

Conditional Implementation

367

Get

Acceleration Fine Command

485

Set

Acceleration Limit

482 Get Acceleration Reference - - - Y Y N

481

Set

Acceleration Trim

836

Set

Adaptive Tuning Configuration

V26/V27

844 Get Adaptive Tuning Gain Scaling

Factor

- - - Y Y Y V26/V27

732/267

Get

Analog Input 1

733/268

Get

Analog Input 2

734 Set Analog Output 1 N - N N N N

735

Set

Analog Output 2

Kinetix 5700 Advanced

Safety Drive Module

Optional Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 169

Access Rule

Attribute Name

Conditional Implementation

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875 Set Auto Sag Slip Time Limit - - N N N N V26/V27

876

Set

Auto Sag Start

V26/V27

19 Set Axis Features R R R R R R O-Bits

0: Fine Interpolation (Y)

1: Registration Auto-rearm (Y)

2: Alarm Log (Y)

5: Hookup Test (Y)

6: Commutation Test (Y)

7: Motor Test (Y)

8: Inertia Test (Y)

9: Sensorless Control (N)

10: Drive Scaling (N) Vxx

11: Ext. Event Block (N) Vxx

12: Integer Cmd. Pos. (N) Vxx

13: Ext. Motor Test (N) V29

14: Control Mode Change (N) V26/V27

15: Feedback Mode Change (N) Vxx

16: Pass Bus Status (Y) V26/V27

17: Pass Bus Unload (Y) V26/V27

18: Ext. Speed for SPM (N) V29

19: Ext. Speed for IPM (Y) V29

986

Get

Axis Safety Data A

V31

987 Get Axis Safety Data B - - Y Y Y Y V31

763

Get

Axis Safety Faults

V24

985

Get

Axis Safety Faults - RA

V31

760 Get Axis Safety State - Y Y Y Y Y V24

761

Get

Axis Safety Status

V24

984 Get Axis Safety Status - RA - Y Y Y Y Y V31

825 Set Backlash Compensation Window - - - Y - -

593

Set

Brake Prove Ramp Time

V26/V27

594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27

592

Set

Brake Test Torque

V26/V27

2338 Get Bus Output Overvoltage Factory

Limit 1

N - N N N N Vxx

2358 Get Bus Output Overvoltage Factory

Limit 2

N - N N N N Vxx

2339

Get

Bus Output Undervoltage Factory

Limit 1

Vxx

2359 Get Bus Output Undervoltage Factory

Limit 2

N - N N N N Vxx

638/262

Get

Bus Regulator Capacity

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset

Compensation

- - N N N PM Motor only, V29

563 Set Commutation Polarity - - - Y Y Y PM Motor only

562 Set Commutation Self-Sensing

Current

- - - N N N PM Motor only

Chapter 3 Interpret the Attribute Tables

170 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

618 Set Connection Loss Stopping Action - - Y Y Y Y O-Enum V31

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

637

Get

Converter Capacity

2337

Get

Converter Output Capacity 1

Vxx

2357

Get

Converter Output Capacity 2

Vxx

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Power

V26/V27

2331 Get Converter Output Power 1 N - N N N N Vxx

2351 Get Converter Output Power 2 N - N N N N Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352

Get

Converter Output Rated Current 2

Vxx

2333 Get Converter Output Rated Power 1 N - N N N N Vxx

2353

Get

Converter Output Rated Power 2

Vxx

840

Set

Current Disturbance

527 Get Current Error - - - Y Y Y

529 Get Current Feedback - - - Y Y Y

522

Get

Current Limit Source

(F/V29)

524

Get

Current Reference

553 Set Current Vector Limit - - Y Y Y Y

2334

Get

DC Bus Output Voltage 1

Vxx

2354 Get DC Bus Output Voltage 2 N - N N N N Vxx

742

Get

DC Bus Output Voltage Reference

Vxx

2336 Get DC Bus Output Voltage Reference

N - N N N N Vxx

2356 Get DC Bus Output Voltage Reference

N - N N N N Vxx

870 Set DC Injection Brake Current - - N N N N

872

Set

DC Injection Brake Time

486

Set

Deceleration Limit

730 Get Digital Inputs N - N N N N

731

Set

Digital Outputs

1435 Set Feedback 1 Accel Filter Bandwidth - Y - Y Y Y

2404 Set Feedback 1 Accel Filter Taps - Y - Y Y Y

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code - N - N N N TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425

Set

Feedback 1 Resolver Cable

Balance

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 171

Access Rule

Attribute Name

Conditional Implementation

1423 Set Feedback 1 Resolver Excitation

Voltage

- N - N N N RS

1422 Set Feedback 1 Resolver Transformer

Ratio

- N - N N N RS

1401 Get Feedback 1 Serial Number - Y - Y Y Y

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1434 Set Feedback 1 Velocity Filter

Bandwidth

- Y - Y Y Y

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter

Bandwidth

- Y - Y Y Y

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471 Set Feedback 2 Data Code - N - N N N TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475 Set Feedback 2 Resolver Cable

Balance

- N - N N N RS

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473

Set

Feedback 2 Resolver Excitation

Voltage

1472 Set Feedback 2 Resolver Transformer

Ratio

- N - N N N RS

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1484 Set Feedback 2 Velocity Filter

Bandwidth

- Y - Y Y Y

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (Y)

3 = Self-Sense (N)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (P/Y)(V/Y)(T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/N)

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707 Set Feedback Signal Loss User Limit - Y Y Y Y Y

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528 Get Flux Current Error - - - Y Y Y

530

Get

Flux Current Feedback

525 Get Flux Current Reference - - - Y Y Y

Chapter 3 Interpret the Attribute Tables

172 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

557

Set

Flux Integral Time Constant

556

Set

Flux Loop Bandwidth

558 Set Flux Up Control - - Y Y Y Y Ind Motor only

O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - N - Y - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (N)

498 Set Friction Compensation Sliding - - - Y Y Y

499

Set

Friction Compensation Static

500 Set Friction Compensation Viscous - - - Y Y Y

826/421

Set

Friction Compensation Window

981/243

Get

Guard Faults

980/242 Get Guard Status - - Y Y Y Y

280

Set

Home Torque Threshold

Vxx

281 Set Home Torque Time - - - N N - Vxx

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699 Set Inverter Thermal Overload User

Limit

- - Y Y Y Y

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313 Set Linear Motor Integral Limit Switch - - N N N N Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration

Estimate

- - - Y Y N

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - Y Y Y O-Enum

1 = Load Observer Only (Y)

2 = Load Observer With Velocity Estimate (Y)

3 = Velocity Estimate Only (Y)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 173

Access Rule

Attribute Name

Conditional Implementation

807 Set Load Observer Integrator

Bandwidth

- - - Y Y N

802

Get

Load Observer Torque Estimate

1370

Set

Load Type

DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - Y Y Y Y

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3 = Motor NV (Y)

1323

Set

Motor Integral Thermal Switch

1324 Set Motor Max Winding Temperature - - Y Y Y Y

646 Set Motor Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695

Set

Motor Overspeed User Limit

694 Set Motor Phase Loss Limit - - N N N N V26/V27

1317

Set

Motor Polarity

1321 Set Motor Rated Output Power - - Y Y Y Y Y-PM

1320

Set

Motor Rated Peak Current

Y-IM

697 Set Motor Thermal Overload User

Limit

- - Y Y Y Y

1325 Set Motor Winding to Ambient

Capacitance

- - Y Y Y Y

1326 Set Motor Winding to Ambient

Resistance

- - Y Y Y Y

521

Get

Operative Current Limit

F Support in V29

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355 Set PM Motor Extended Speed

Permissive

- - - Y Y Y V29

2310 Set PM Motor Flux Saturation - - N Y Y Y SPM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1358 Set PM Motor Linear Bus Overvoltage

Speed

- - - N N N V29

1359 Set PM Motor Linear Max Extended

Speed

- - - N N N V29

2314 Set PM Motor Lq Flux Saturation - - N Y Y Y IPM Motor only, V29/V29

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29/V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - - Y Y Y V29

Chapter 3 Interpret the Attribute Tables

174 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

1357 Set PM Motor Rotary Max Extended

Speed

- - - Y Y Y V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1: Auto-Preset (N)

447 Set Position Integrator Preload - - - N - -

781 Set Position Lead Lag Filter

Bandwidth

- - - Y - -

782

Set

Position Lead Lag Filter Gain

783 Set Position Notch Filter Frequency - - - N - -

627 Set Power Loss Action - - N N N N O-Enum

2 = Decel Regen (N)

628 Set Power Loss Threshold N - Y Y Y Y

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376 Set* Ramp Acceleration - - Y - Y - Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375 Set* Ramp Velocity - Negative - - Y - Y - Derived

374

Set*

Ramp Velocity - Positive

Derived

613/354 Set Resistive Brake Contact Delay - - N N N N PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312

Set

Rotary Motor Fan Cooling Derating

Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330 Set Rotary Motor Inertia - - Y Y Y Y Rotary Motor only

1332 Set Rotary Motor Max Speed - - Y Y Y Y Rotary Motor only

766 Set Safe Stopping Action - - Y Y Y Y O-Enum V31

1 = Current Decel (F/Y)

2 = Ramped Decel (FV/Y)

767 Set Safe Stopping Action Source - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

765 Set Safe Torque Off Action - - Y Y Y Y O-Enum V26/V27

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

759 Set Safe Torque Off Action Source - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372

Set

Skip Speed 3

373 Set Skip Speed Band - - Y - - -

833

Set

SLAT Configuration

834

Set

SLAT Set Point

835 Set SLAT Time Delay - - - - Y -

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 175

Access Rule

Attribute Name

Conditional Implementation

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/Y) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/Y)

4 = Ramped Decel Hold (V/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612 Set Stopping Time Limit - - Y Y Y Y (F/V26/V27)

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828

Set

Torque Lead Lag Filter Gain

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - Y Y Y V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - Y Y Y V26/V27

837 Set Torque Notch Filter High

Frequency Limit

- - - Y Y Y V26/V27

838

Set

Torque Notch Filter Low

Frequency Limit

V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - - Y Y Y V26/V27

839 Set Torque Notch Filter Tuning

Threshold

- - - Y Y Y V26/V27

591

Set

Torque Prove Current

V26/V27

506 Set Torque Rate Limit - - - Y Y Y

507/334

Set

Torque Threshold

510

Set

Undertorque Limit

511 Set Undertorque Limit Time - - N Y Y Y

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466 Set Velocity Error Tolerance Time - - - Y Y -

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1: Auto-Preset (N)

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458

Get

Velocity Limit Source

V29

471

Set

Velocity Lock Tolerance

469 Set Velocity Low Pass Filter

Bandwidth

- - - Y Y -

790 Set Velocity Negative Feedforward

Gain

- - - Y Y -

470/327

Set

Velocity Threshold

589

Set

Vertical Load Control

V31

608 Set Zero Speed - - Y Y Y Y V26/V27

609

Set

Zero Speed Time

V26/V27

Chapter 3 Interpret the Attribute Tables

176 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

The Kinetix 5700 CIP Safety (EtherNet/IP) modules include these catalog

numbers:

• 2198-S263-ERS3 Kinetix 5700, 150A, 458-747 Volt DC, CIP Safety

(EtherNet/IP)

• 2198-S312-ERS3 Kinetix 5700, 192A, 458-747 Volt DC, CIP Safety

(EtherNet/IP)

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in this table.

Access Rule

Attribute Name

Conditional Implementation

955

Set

AC Line Contactor Input Checking

V32

2034

Set

AC Line Current Unbalance Limit

V32

2225

Get

AC Line Electrical Angle

V32

2245 Set AC Line Frequency Change Action N - - - - - - O-Enum V32

0 = Continue (N)

2246 Set AC Line Frequency Change

Threshold

N - - - - - - V32

2247

Set

AC Line Frequency Change Time

V32

2284

Set

AC Line High Freq User Limit

V32

2286 Set AC Line High Freq User Limit -

Alternate

N - - - - - - V32

2285 Set AC Line Low Freq User Limit N - - - - - - V32

2287 Set AC Line Low Freq User Limit -

Alternate

N - - - - - - V32

2289

Set

AC Line Overload User Limit

V32

2280 Set AC Line Overvoltage User Limit N - - - - - - V32

2282 Set AC Line Overvoltage User Limit -

Alternate

N - - - - - - V32

2041

Set

AC Line Source Impedance

V32

2043

Set

AC Line Source Impedance -

Alternate

V32

2042

Set

AC Line Source Power

V32

2044

Set

AC Line Source Power - Alternate

V32

2040 Set AC Line Source Select N - - - - - - V32

2035

Set

AC Line Sync Error Tolerance

V32

2248 Set AC Line Sync Loss Action N - - - - - - O-Enum V32

0 = Continue (N)

2249 Set AC Line Sync Loss Time N - - - - - - V32

2281

Set

AC Line Undervoltage User Limit

V32

2283 Set AC Line Undervoltage User Limit -

Alternate

N - - - - - - V32

2240 Set AC Line Voltage Sag Action N - - - - - - O-Enum V32

0 = Continue (N)

2241

Set

AC Line Voltage Sag Threshold

V32

2242

Set

AC Line Voltage Sag Time

V32

2014

Set

AC Line Voltage Time Constant

V32

2033 Set AC Line Voltage Unbalance Limit N - - - - - - V32

367

Get

Acceleration Fine Command

Kinetix 5700 CIP Safety

(EtherNet/IP) Module

Optional Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 177

Access Rule

Attribute Name

Conditional Implementation

485

Set

Acceleration Limit

482

Get

Acceleration Reference

481 Set Acceleration Trim - - - - N N N

2091

Set

Active Current Command

V32

2106 Get Active Current Error N - - - - - - V32

2118 Get Active Current Feedback N - - - - - - V32

2094 Set Active Current Low Pass Filter

Bandwidth

N - - - - - - V32

2095 Set Active Current Notch Filter

Frequency

N - - - - - - V32

2096 Set Active Current Rate Limit N - - - - - - V32

2093

Set

Active Current Trim

V32

836

Set

Adaptive Tuning Configuration

V26/V27

844 Get Adaptive Tuning Gain Scaling

Factor

- - - - Y Y Y V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N N - N N N N

734

Set

Analog Output 1

735

Set

Analog Output 2

873 Set Auto Sag Configuration - - - N N N N V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875 Set Auto Sag Slip Time Limit - - - N N N N V26/V27

876

Set

Auto Sag Start

V26/V27

19 Set Axis Features R R R R R R R O-Bits

0: Fine Interpolation (Y)

1: Registration Auto-rearm (Y)

2: Alarm Log (Y)

5: Hookup Test (Y)

6: Commutation Test (Y)

7: Motor Test (Y)

8: Inertia Test (Y)

9: Sensorless Control (N)

10: Drive Scaling (N) Vxx

11: Ext. Event Block (N) Vxx

12: Integer Cmd. Pos. (N) Vxx

13: Ext. Motor Test (N) V29

14: Control Mode Change (N) V26/V27

15: Feedback Mode Change (N) Vxx

16: Pass Bus Status (Y) V26/V27

17: Pass Bus Unload (Y) V26/V27

18: Ext. Speed for SPM (N) V29

19: Ext. Speed for IPM (Y) V29

20: Ext. Pos. Feedback (N) Vxx

22: Ext. Sub Code Format (N) V32

753 Get Axis Safety Alarms - - N N N N N V32

988

Get

Axis Safety Alarms - RA

V32

986

Get

Axis Safety Data A

V31

987

Get

Axis Safety Data B

V31

763

Get

Axis Safety Faults

V24

985 Get Axis Safety Faults - RA - - Y Y Y Y Y V31

Chapter 3 Interpret the Attribute Tables

178 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

760

Get

Axis Safety State

V24

761

Get

Axis Safety Status

V24

984 Get Axis Safety Status - RA - - Y Y Y Y Y V31

825 Set Backlash Compensation Window - - - - Y - -

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

816 Set Bus Observer Bandwidth N - - - - - - V32

815

Set

Bus Observer Configuration

O-Enum V32

1 = Bus Observer Only (N)

2 = Bus Observer with Voltage Estimate (N)

3 = Voltage Estimate Only (N)

812

Get

Bus Observer Current Estimate

V32

817 Set Bus Observer Integrator

Bandwidth

N - - - - - - V32

811 Get Bus Observer Voltage Rate

Estimate

N - - - - - - V32

2338 Get Bus Output Overvoltage Factory

Limit 1

N N - N N N N Vxx

2358 Get Bus Output Overvoltage Factory

Limit 2

N N - N N N N Vxx

2339 Get Bus Output Undervoltage Factory

Limit 1

N N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory

Limit 2

N N - N N N N Vxx

638/262

Get

Bus Regulator Capacity

2065

Set

Bus Voltage Error Tolerance

V32

2066

Set

Bus Voltage Error Tolerance Time

V32

2334

Get

Bus Voltage Output 1

Vxx

2354 Get Bus Voltage Output 2 N N - N N N N Vxx

2064

Set

Bus Voltage Rate Limit

V32

2050

Get

Bus Voltage Reference

V32

2336 Get Bus Voltage Reference 1 N N - N N N N Vxx

2356

Get

Bus Voltage Reference 2

Vxx

2061

Set

Bus Voltage Reference Source

V32

2060 Set Bus Voltage Set Point R N - - - - - V32

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

746 Get CIP Axis Alarms 2 N N N N N N N V32

927

Get

CIP Axis Alarms 2 - RA

V32

748 Set CIP Axis Exception Action 2 R N N N N N N V32

909

Set

CIP Axis Exception Action 2 - RA

V32

744

Get

CIP Axis Faults 2

V32

903 Get CIP Axis Faults 2 - RA R N N N N N N V32

740

Get

CIP Axis Status 2

V32

924

Get

CIP Axis Status 2 - RA

V32

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset

Compensation

- - - - N N N PM Motor only, V29

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 179

Access Rule

Attribute Name

Conditional Implementation

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing

Current

- - - - N N N PM Motor only

618

Set

Connection Loss Stopping Action

O-Enum V31

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

2030

Set

Converter AC Input Frequency

V32

2031 Set Converter AC Input Phasing N - - - - - - O-Enum V32

1 = Single (N)

2032 Set Converter AC Input Voltage N - - - - - - V32

637

Get

Converter Capacity

1280 Set* Converter Configuration R - - - - - - O-Enum V32

1 = Active Current Control (N)

2001

Set

Converter Control Mode

Derived, V32

2231 Set Converter Current Integrator

Bandwidth

N - - - - - - V32

2103 Get Converter Current Limit Source N - - - - - - V32

2230 Set Converter Current Loop

Bandwidth

N - - - - - - V32

2322 Set Converter Current Loop Damping N - - - - - - V32

2321 Set Converter Current Loop Tuning

Method

N - - - - - - V32

2232

Set

Converter Current Vector Limit

V32

709 Set Converter Ground Current User

Limit

N - - - - - - V32

2288 Set Converter Heatsink Overtemp

User Limit

N - - - - - - V32

2243 Set Converter Input Phase Loss

Action

N - - - - - - O-Enum V32

0 = Continue (N)

2244

Set

Converter Input Phase Loss Time

V32

596

Set

Converter Motoring Power Limit

V32

2100 Get Converter Operative Current Limit N - - - - - - V32

2337 Get Converter Output Capacity 1 N N - N N N N Vxx

2357

Get

Converter Output Capacity 2

Vxx

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Power

V26/V27

2331 Get Converter Output Power 1 N N - N N N N Vxx

2351 Get Converter Output Power 2 N N - N N N N Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352

Get

Converter Output Rated Current 2

Vxx

2333 Get Converter Output Rated Power 1 N N - N N N N Vxx

2353

Get

Converter Output Rated Power 2

Vxx

2268 Set Converter Overload Action N - - - - - - O-Enum V32

1 = Current Foldback (N)

Chapter 3 Interpret the Attribute Tables

180 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

700 Set Converter Overtemperature User

Limit

N - - - - - - V32

921 Set Converter Pre-Charge Overload

User Limit

N - - - - - - V32

626 Set Converter Regenerative Power

Limit

N N - - - - - V32

2003 Set Converter Startup Method N - - - - - - O-Enum V32

1 = Enable Input (N)

2 = Automatic (N)

701 Set Converter Thermal Overload User

Limit

N - - - - - - V32

840

Set

Current Disturbance

527

Get

Current Error

529 Get Current Feedback - - - - Y Y Y

522 Get Current Limit Source - - - Y Y Y Y (F/V29)

524

Get

Current Reference

553 Set Current Vector Limit - - - Y Y Y Y

870

Set

DC Injection Brake Current

872

Set

DC Injection Brake Time

486 Set Deceleration Limit - - - N Y Y N

730 Get Digital Inputs N N - N N N N

731

Set

Digital Outputs

885

Set

External Bus Capacitance

Derived, V32

1435 Set Feedback 1 Accel Filter Bandwidth - - Y - Y Y Y

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code - - N - N N N TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414 Set Feedback 1 Polarity - - Y - Y Y Y

1425 Set Feedback 1 Resolver Cable

Balance

- - N - N N N RS

1424 Set Feedback 1 Resolver Excitation

Frequency

- - N - N N N RS

1423 Set Feedback 1 Resolver Excitation

Voltage

- - N - N N N RS

1422 Set Feedback 1 Resolver Transformer

Ratio

- - N - N N N RS

1401 Get Feedback 1 Serial Number - - Y - Y Y Y

1415 Set Feedback 1 Startup Method - - R - R R R O-Enum

1 = Absolute (Y)

1434 Set Feedback 1 Velocity Filter

Bandwidth

- - Y - Y Y Y

2403 Set Feedback 1 Velocity Filter Taps - - Y - Y Y Y

1485 Set Feedback 2 Accel Filter

Bandwidth

- - Y - Y Y Y

2454

Set

Feedback 2 Accel Filter Taps

2455 Set Feedback 2 Battery Absolute - - N - N N N TM

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 181

Access Rule

Attribute Name

Conditional Implementation

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475 Set Feedback 2 Resolver Cable

Balance

- - N - N N N RS

1474 Set Feedback 2 Resolver Excitation

Frequency

- - N - N N N RS

1473 Set Feedback 2 Resolver Excitation

Voltage

- - N - N N N RS

1472 Set Feedback 2 Resolver Transformer

Ratio

- - N - N N N RS

1451 Get Feedback 2 Serial Number - - Y - Y Y Y

1465 Set Feedback 2 Startup Method - - R - R R R O-Enum

1 = Absolute (Y)

1484 Set Feedback 2 Velocity Filter

Bandwidth

- - Y - Y Y Y

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - - Y Y Y O-Enum

2 = Motor Offset (Y)

3 = Self-Sense (N)

4 = Database Offset (N) Vxx

Set*

Feedback Configuration

O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (P/Y)(V/Y)(T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/N)

708 Set Feedback Data Loss User Limit - - Y Y Y Y Y

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

44 Set Feedback Unit Ratio - - - - Y Y -

871 Set Flux Braking Enable - - - N N N N Ind Motor only

528

Get

Flux Current Error

530

Get

Flux Current Feedback

525 Get Flux Current Reference - - - - Y Y Y

557

Set

Flux Integral Time Constant

556

Set

Flux Loop Bandwidth

558 Set Flux Up Control - - - Y Y Y Y Ind Motor only

O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559 Set Flux Up Time - - - Y Y Y Y Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - - N - Y - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

Chapter 3 Interpret the Attribute Tables

182 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

570 Set Frequency Control Method - - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (N)

498

Set

Friction Compensation Sliding

499 Set Friction Compensation Static - - - - Y Y Y

500

Set

Friction Compensation Viscous

826/421 Set Friction Compensation Window - - - - Y - -

981/243

Get

Guard Faults

980/242

Get

Guard Status

280 Set Home Torque Threshold - - - - N N - Vxx

281

Set

Home Torque Time

Vxx

1349 Set Induction Motor Magnetization

Reactance

- - - N N N N Ind Motor only

1352 Set Induction Motor Rated Slip Speed - - - Y Y Y Y Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699 Set Inverter Thermal Overload User

Limit

- - - Y Y Y Y

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336 Set Linear Motor Mass - - - - Y Y Y Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration

Estimate

- - - - Y Y N

806 Set Load Observer Bandwidth - - - - Y Y N

805 Set Load Observer Configuration - - - - Y Y N O-Enum

1 = Load Observer Only (Y)

2 = Load Observer With Velocity Estimate (Y)

3 = Velocity Estimate Only (Y)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator

Bandwidth

- - - - Y Y N

802

Get

Load Observer Torque Estimate

750

Set

Local Control

O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614 Set Mechanical Brake Control - - - Y Y Y Y

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - - Y Y Y Y

45 Set Motion Scaling Configuration - - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 183

Access Rule

Attribute Name

Conditional Implementation

1313 Set Motor Data Source - - - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3 = Motor NV (Y)

1323

Set

Motor Integral Thermal Switch

1324

Set

Motor Max Winding Temperature

646

Set

Motor Overload Action

O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695

Set

Motor Overspeed User Limit

694 Set Motor Phase Loss Limit - - - N N N N V26/V27

1317

Set

Motor Polarity

1321 Set Motor Rated Output Power - - - Y Y Y Y Y-PM

1320 Set Motor Rated Peak Current - - - Y Y Y Y Y-IM

697 Set Motor Thermal Overload User

Limit

- - - Y Y Y Y

1325 Set Motor Winding to Ambient

Capacitance

- - - Y Y Y Y

1326 Set Motor Winding to Ambient

Resistance

- - - Y Y Y Y

521 Get Operative Current Limit - - - Y Y Y Y F Support in V29

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355 Set PM Motor Extended Speed

Permissive

- - - - Y Y Y V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29

1358 Set PM Motor Linear Bus Overvoltage

Speed

- - - - N N N V29

1359 Set PM Motor Linear Max Extended

Speed

- - - - N N N V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - - - Y Y Y V29

1357 Set PM Motor Rotary Max Extended

Speed

- - - - Y Y Y V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445 Set Position Error Tolerance Time - - - - Y - -

365

Get

Position Fine Command

446 Set Position Integrator Control - - - - R - - O-Bits

1: Auto-Preset (N)

447 Set Position Integrator Preload - - - - N - -

781 Set Position Lead Lag Filter

Bandwidth

- - - - Y - -

782

Set

Position Lead Lag Filter Gain

783

Set

Position Notch Filter Frequency

Chapter 3 Interpret the Attribute Tables

184 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

627 Set Power Loss Action N N - N N N N O-Enum

2 = Decel Regen (FPVT/N)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377 Set* Ramp Deceleration - - - Y - Y - Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374

Set*

Ramp Velocity - Positive

Derived

2092 Set Reactive Current Command N - - - - - - V32

2107 Get Reactive Current Error N - - - - - - V32

2119 Get Reactive Current Feedback N - - - - - - V32

2097 Set Reactive Current Rate Limit N - - - - - - V32

2002 Set Reactive Power Control N - - - - - - V32

2073 Set Reactive Power Rate Limit N - - - - - - V32

2070 Set Reactive Power Set Point N - - - - - - V32

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - - N N N N Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330 Set Rotary Motor Inertia - - - - Y Y Y Rotary Motor only

1332 Set Rotary Motor Max Speed - - - Y Y Y Y Rotary Motor only

766 Set Safe Stopping Action - - - Y Y Y Y O-Enum V31

1 = Current Decel (F/Y)

2 = Ramped Decel (FV/Y)

767 Set Safe Stopping Action Source - - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

765 Set Safe Torque Off Action - - - Y Y Y Y O-Enum V26/V27

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

759 Set Safe Torque Off Action Source - - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

758 Set Safety Fault Action - - N N N N N O-Enum V32

0 = Ignore (N)

1 = Alarm (N)

2 = Fault Status Only (N)

3 = Stop Planner (N)

629 Set Shutdown Action N N - N N N N O-Enum

0 = Disable (G/N)

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372 Set Skip Speed 3 - - - N - - -

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 185

Access Rule

Attribute Name

Conditional Implementation

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834 Set SLAT Set Point - - - - - Y -

835 Set SLAT Time Delay - - - - - Y -

610 Set Stopping Action - - - R R R R O-Enum

1 = Current Decel Disable (F/Y) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/Y)

4 = Ramped Decel Hold (V/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612

Set

Stopping Time Limit

(F/V26/V27)

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828 Set Torque Lead Lag Filter Gain - - - - Y Y Y

554 Set Torque Loop Bandwidth - - - - Y Y Y

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - - Y Y Y V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - - Y Y Y V26/V27

837 Set Torque Notch Filter High

Frequency Limit

- - - - Y Y Y V26/V27

838 Set Torque Notch Filter Low

Frequency Limit

- - - - Y Y Y V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - - - Y Y Y V26/V27

839 Set Torque Notch Filter Tuning

Threshold

- - - - Y Y Y V26/V27

591 Set Torque Prove Current - - - Y Y Y Y V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

510 Set Undertorque Limit - - - N Y Y Y

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465 Set Velocity Error Tolerance - - - - Y Y -

466

Set

Velocity Error Tolerance Time

366 Get Velocity Fine Command - - - - Y Y -

467 Set Velocity Integrator Control - - - - R R - O-Bits

1: Auto-Preset (N)

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325 Set Velocity Limit - Positive - - - Y Y Y -

458

Get

Velocity Limit Source

V29

471 Set Velocity Lock Tolerance - - - Y Y Y -

469 Set Velocity Low Pass Filter

Bandwidth

- - - - Y Y -

Chapter 3 Interpret the Attribute Tables

186 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

790 Set Velocity Negative Feedforward

Gain

- - - - Y Y -

470/327

Set

Velocity Threshold

589

Set

Vertical Load Control

V31

608 Set Zero Speed - - - Y Y Y Y V26/V27

609

Set

Zero Speed Time

V26/V27

The Kinetix 5700 CIP Advanced Safety (EtherNet/IP) modules include these

catalog numbers:

• 2198-S263-ERS4 Kinetix 5700, 150A, 458-747 Volt DC, CIP Advanced

Safety (EtherNet/IP)

• 2198-S312-ERS4 Kinetix 5700, 192A, 458-747 Volt DC, CIP Advanced

Safety (EtherNet/IP)

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in this table.

Access Rule

Attribute Name

Conditional Implementation

955

Set

AC Line Contactor Input Checking

V32

2034

Set

AC Line Current Unbalance Limit

V32

2225 Get AC Line Electrical Angle N - - - - - - V32

2245 Set AC Line Frequency Change Action N - - - - - - O-Enum V32

0 = Continue (N)

2246 Set AC Line Frequency Change

Threshold

N - - - - - - V32

2247 Set AC Line Frequency Change Time N - - - - - - V32

2284

Set

AC Line High Freq User Limit

V32

2286 Set AC Line High Freq User Limit -

Alternate

N - - - - - - V32

2285 Set AC Line Low Freq User Limit N - - - - - - V32

2287 Set AC Line Low Freq User Limit -

Alternate

N - - - - - - V32

2289

Set

AC Line Overload User Limit

V32

2280

Set

AC Line Overvoltage User Limit

V32

2282 Set AC Line Overvoltage User Limit -

Alternate

N - - - - - - V32

2041

Set

AC Line Source Impedance

V32

2043 Set AC Line Source Impedance -

Alternate

N - - - - - - V32

2042 Set AC Line Source Power N - - - - - - V32

2044

Set

AC Line Source Power - Alternate

V32

2040

Set

AC Line Source Select

V32

2035

Set

AC Line Sync Error Tolerance

V32

2248 Set AC Line Sync Loss Action N - - - - - - O-Enum V32

0 = Continue (N)

2249

Set

AC Line Sync Loss Time

V32

2281 Set AC Line Undervoltage User Limit N - - - - - - V32

2283 Set AC Line Undervoltage User Limit -

Alternate

N - - - - - - V32

Kinetix 5700 CIP Advanced

Safety (EtherNet/IP) Module

Optional Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 187

Access Rule

Attribute Name

Conditional Implementation

2240 Set AC Line Voltage Sag Action N - - - - - - O-Enum V32

0 = Continue (N)

2241

Set

AC Line Voltage Sag Threshold

V32

2242

Set

AC Line Voltage Sag Time

V32

2014

Set

AC Line Voltage Time Constant

V32

2033

Set

AC Line Voltage Unbalance Limit

V32

367 Get Acceleration Fine Command - - - - Y Y Y

485

Set

Acceleration Limit

482

Get

Acceleration Reference

481

Set

Acceleration Trim

2091

Set

Active Current Command

V32

2106 Get Active Current Error N - - - - - - V32

2118 Get Active Current Feedback N - - - - - - V32

2094 Set Active Current Low Pass Filter

Bandwidth

N - - - - - - V32

2095 Set Active Current Notch Filter

Frequency

N - - - - - - V32

2096 Set Active Current Rate Limit N - - - - - - V32

2093

Set

Active Current Trim

V32

836 Set Adaptive Tuning Configuration - - - - Y Y Y V26/V27

844 Get Adaptive Tuning Gain Scaling

Factor

- - - - Y Y Y V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N N - N N N N

734

Set

Analog Output 1

735

Set

Analog Output 2

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

876

Set

Auto Sag Start

V26/V27

Chapter 3 Interpret the Attribute Tables

188 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

19 Set Axis Features R R R R R R R O-Bits

0: Fine Interpolation (Y)

1: Registration Auto-rearm (Y)

2: Alarm Log (Y)

5: Hookup Test (Y)

6: Commutation Test (Y)

7: Motor Test (Y)

8: Inertia Test (Y)

9: Sensorless Control (N)

10: Drive Scaling (N) Vxx

11: Ext. Event Block (N) Vxx

12: Integer Cmd. Pos. (N) Vxx

13: Ext. Motor Test (N) V29

14: Control Mode Change (N) V26/V27

15: Feedback Mode Change (N) Vxx

16: Pass Bus Status (Y) V26/V27

17: Pass Bus Unload (Y) V26/V27

18: Ext. Speed for SPM (N) V29

19: Ext. Speed for IPM (Y) V29

20: Ext. Pos. Feedback (N) Vxx

22: Ext. Sub Code Format (N) V32

753

Get

Axis Safety Alarms

V32

988

Get

Axis Safety Alarms - RA

V32

986

Get

Axis Safety Data A

V31

987

Get

Axis Safety Data B

V31

763

Get

Axis Safety Faults

V24

985 Get Axis Safety Faults - RA - - Y Y Y Y Y V31

760

Get

Axis Safety State

V24

761

Get

Axis Safety Status

V24

984 Get Axis Safety Status - RA - - Y Y Y Y Y V31

825 Set Backlash Compensation Window - - - - Y - -

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

816 Set Bus Observer Bandwidth N - - - - - - V32

815 Set Bus Observer Configuration N - - - - - - O-Enum V32

1 = Bus Observer Only (N)

2 = Bus Observer with Voltage Estimate (N)

3 = Voltage Estimate Only (N)

812

Get

Bus Observer Current Estimate

V32

817 Set Bus Observer Integrator

Bandwidth

N - - - - - - V32

811 Get Bus Observer Voltage Rate

Estimate

N - - - - - - V32

2338 Get Bus Output Overvoltage Factory

Limit 1

N N - N N N N Vxx

2358 Get Bus Output Overvoltage Factory

Limit 2

N N - N N N N Vxx

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 189

Access Rule

Attribute Name

Conditional Implementation

2339 Get Bus Output Undervoltage Factory

Limit 1

N N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory

Limit 2

N N - N N N N Vxx

638/262 Get Bus Regulator Capacity N N - N N N N

2065

Set

Bus Voltage Error Tolerance

V32

2066

Set

Bus Voltage Error Tolerance Time

V32

2334 Get Bus Voltage Output 1 N N - N N N N Vxx

2354

Get

Bus Voltage Output 2

Vxx

2064

Set

Bus Voltage Rate Limit

V32

2050

Get

Bus Voltage Reference

V32

2336

Get

Bus Voltage Reference 1

Vxx

2356

Get

Bus Voltage Reference 2

Vxx

2061 Set Bus Voltage Reference Source N - - - - - - V32

2060

Set

Bus Voltage Set Point

V32

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

746

Get

CIP Axis Alarms 2

V32

927 Get CIP Axis Alarms 2 - RA N N N N N N N V32

748

Set

CIP Axis Exception Action 2

V32

909

Set

CIP Axis Exception Action 2 - RA

V32

744 Get CIP Axis Faults 2 R N N N N N N V32

903

Get

CIP Axis Faults 2 - RA

V32

740

Get

CIP Axis Status 2

V32

924 Get CIP Axis Status 2 - RA R N N N N N N V32

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset

Compensation

- - - - N N N PM Motor only, V29

563 Set Commutation Polarity - - - - Y Y Y PM Motor only

562 Set Commutation Self-Sensing

Current

- - - - N N N PM Motor only

618 Set Connection Loss Stopping Action - - - Y Y Y Y O-Enum V31

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

2030 Set Converter AC Input Frequency N - - - - - - V32

2031 Set Converter AC Input Phasing N - - - - - - O-Enum V32

1 = Single (N)

2032

Set

Converter AC Input Voltage

V32

637

Get

Converter Capacity

1280 Set* Converter Configuration R - - - - - - O-Enum V32

1 = Active Current Control (N)

2001

Set

Converter Control Mode

Derived, V32

2231 Set Converter Current Integrator

Bandwidth

N - - - - - - V32

2103 Get Converter Current Limit Source N - - - - - - V32

2230 Set Converter Current Loop

Bandwidth

N - - - - - - V32

Chapter 3 Interpret the Attribute Tables

190 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

2322

Set

Converter Current Loop Damping

V32

2321 Set Converter Current Loop Tuning

Method

N - - - - - - V32

2232

Set

Converter Current Vector Limit

V32

709 Set Converter Ground Current User

Limit

N - - - - - - V32

2288 Set Converter Heatsink Overtemp

User Limit

N - - - - - - V32

2243 Set Converter Input Phase Loss

Action

N - - - - - - O-Enum V32

0 = Continue (N)

2244 Set Converter Input Phase Loss Time N - - - - - - V32

596 Set Converter Motoring Power Limit N N - - - - - V32

2100

Get

Converter Operative Current Limit

V32

2337

Get

Converter Output Capacity 1

Vxx

2357

Get

Converter Output Capacity 2

Vxx

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Power

V26/V27

2331 Get Converter Output Power 1 N N - N N N N Vxx

2351 Get Converter Output Power 2 N N - N N N N Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352

Get

Converter Output Rated Current 2

Vxx

2333 Get Converter Output Rated Power 1 N N - N N N N Vxx

2353

Get

Converter Output Rated Power 2

Vxx

2268 Set Converter Overload Action N - - - - - - O-Enum V32

1 = Current Foldback (N)

700 Set Converter Overtemperature User

Limit

N - - - - - - V32

921 Set Converter Pre-Charge Overload

User Limit

N - - - - - - V32

626 Set Converter Regenerative Power

Limit

N N - - - - - V32

2003 Set Converter Startup Method N - - - - - - O-Enum V32

1 = Enable Input (N)

2 = Automatic (N)

701 Set Converter Thermal Overload User

Limit

N - - - - - - V32

840 Set Current Disturbance - - - - N N N

527

Get

Current Error

529 Get Current Feedback - - - - Y Y Y

522

Get

Current Limit Source

(F/V29)

524 Get Current Reference - - - - Y Y Y

553

Set

Current Vector Limit

870

Set

DC Injection Brake Current

872

Set

DC Injection Brake Time

486

Set

Deceleration Limit

730 Get Digital Inputs N N - N N N N

731

Set

Digital Outputs

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 191

Access Rule

Attribute Name

Conditional Implementation

885

Set

External Bus Capacitance

Derived, V32

1435

Set

Feedback 1 Accel Filter Bandwidth

2404 Set Feedback 1 Accel Filter Taps - - Y - Y Y Y

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code - - N - N N N TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425 Set Feedback 1 Resolver Cable

Balance

- - N - N N N RS

1424 Set Feedback 1 Resolver Excitation

Frequency

- - N - N N N RS

1423 Set Feedback 1 Resolver Excitation

Voltage

- - N - N N N RS

1422 Set Feedback 1 Resolver Transformer

Ratio

- - N - N N N RS

1401 Get Feedback 1 Serial Number - - Y - Y Y Y

1415 Set Feedback 1 Startup Method - - R - R R R O-Enum

1 = Absolute (Y)

1434 Set Feedback 1 Velocity Filter

Bandwidth

- - Y - Y Y Y

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter

Bandwidth

- - Y - Y Y Y

2454

Set

Feedback 2 Accel Filter Taps

2455 Set Feedback 2 Battery Absolute - - N - N N N TM

1471

Set

Feedback 2 Data Code

TP,SS

1470 Set Feedback 2 Data Length - - N - N N N TP,SS

2450 Set Feedback 2 Loss Action - - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475 Set Feedback 2 Resolver Cable

Balance

- - N - N N N RS

1474 Set Feedback 2 Resolver Excitation

Frequency

- - N - N N N RS

1473 Set Feedback 2 Resolver Excitation

Voltage

- - N - N N N RS

1472 Set Feedback 2 Resolver Transformer

Ratio

- - N - N N N RS

1451 Get Feedback 2 Serial Number - - Y - Y Y Y

1465 Set Feedback 2 Startup Method - - R - R R R O-Enum

1 = Absolute (Y)

1484 Set Feedback 2 Velocity Filter

Bandwidth

- - Y - Y Y Y

2453

Set

Feedback 2 Velocity Filter Taps

Chapter 3 Interpret the Attribute Tables

192 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

250 Set Feedback Commutation Aligned - - - - Y Y Y O-Enum

2 = Motor Offset (Y)

3 = Self-Sense (N)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R R O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (P/Y)(V/Y)(T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/N)

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707 Set Feedback Signal Loss User Limit - - Y Y Y Y Y

44 Set Feedback Unit Ratio - - - - Y Y -

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - - - N N N

558 Set Flux Up Control - - - Y Y Y Y Ind Motor only

O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - - N - Y - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (N)

498 Set Friction Compensation Sliding - - - - Y Y Y

499

Set

Friction Compensation Static

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243

Get

Guard Faults

980/242

Get

Guard Status

280

Set

Home Torque Threshold

Vxx

281 Set Home Torque Time - - - - N N - Vxx

1349 Set Induction Motor Magnetization

Reactance

- - - N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - - Y Y Y Y Ind Motor only, V26/V27

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 193

Access Rule

Attribute Name

Conditional Implementation

647 Set Inverter Overload Action - - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699 Set Inverter Thermal Overload User

Limit

- - - Y Y Y Y

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313 Set Linear Motor Integral Limit Switch - - - N N N N Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration

Estimate

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - - Y Y N O-Enum

1 = Load Observer Only (Y)

2 = Load Observer With Velocity Estimate (Y)

3 = Velocity Estimate Only (Y)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator

Bandwidth

- - - - Y Y N

802 Get Load Observer Torque Estimate - - - - Y Y N

750 Set Local Control N N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - - Y Y Y Y

45 Set Motion Scaling Configuration - - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - - - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3 = Motor NV (Y)

1323

Set

Motor Integral Thermal Switch

1324 Set Motor Max Winding Temperature - - - Y Y Y Y

646 Set Motor Overload Action - - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695

Set

Motor Overspeed User Limit

694 Set Motor Phase Loss Limit - - - N N N N V26/V27

1317

Set

Motor Polarity

1321 Set Motor Rated Output Power - - - Y Y Y Y Y-PM

1320 Set Motor Rated Peak Current - - - Y Y Y Y Y-IM

697 Set Motor Thermal Overload User

Limit

- - - Y Y Y Y

1325 Set Motor Winding to Ambient

Capacitance

- - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

194 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

1326 Set Motor Winding to Ambient

Resistance

- - - Y Y Y Y

521

Get

Operative Current Limit

F Support in V29

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355

Set

PM Motor Extended Speed

Permissive

V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29

1358 Set PM Motor Linear Bus Overvoltage

Speed

- - - - N N N V29

1359 Set PM Motor Linear Max Extended

Speed

- - - - N N N V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - - - Y Y Y V29

1357 Set PM Motor Rotary Max Extended

Speed

- - - - Y Y Y V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365 Get Position Fine Command - - - - Y - -

446 Set Position Integrator Control - - - - R - - O-Bits

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter

Bandwidth

782

Set

Position Lead Lag Filter Gain

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action N N - N N N N O-Enum

2 = Decel Regen (FPVT/N)

628

Set

Power Loss Threshold

630 Set Power Loss Time N N - N N N N

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377 Set* Ramp Deceleration - - - Y - Y - Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - - Y - Y - Derived

2092 Set Reactive Current Command N - - - - - - V32

2107 Get Reactive Current Error N - - - - - - V32

2119 Get Reactive Current Feedback N - - - - - - V32

2097 Set Reactive Current Rate Limit N - - - - - - V32

2002 Set Reactive Power Control N - - - - - - V32

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 195

Access Rule

Attribute Name

Conditional Implementation

2073 Set Reactive Power Rate Limit N - - - - - - V32

2070 Set Reactive Power Set Point N - - - - - - V32

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312

Set

Rotary Motor Fan Cooling Derating

Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330 Set Rotary Motor Inertia - - - - Y Y Y Rotary Motor only

1332 Set Rotary Motor Max Speed - - - Y Y Y Y Rotary Motor only

766 Set Safe Stopping Action - - - Y Y Y Y O-Enum V31

1 = Current Decel (F/Y)

2 = Ramped Decel (FV/Y)

767 Set Safe Stopping Action Source - - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

765 Set Safe Torque Off Action - - - Y Y Y Y O-Enum V26/V27

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

759 Set Safe Torque Off Action Source - - - Y Y Y Y O-Enum V31

1 = Running Controller (Y)

758 Set Safety Fault Action - - N N N N N O-Enum V32

0 = Ignore (EFPVT/N)

1 = Alarm (EFPVT/N)

2 = Fault Status Only (FPVT/N)

3 = Stop Planner (FPVT/N)

629 Set Shutdown Action N N - N N N N O-Enum

0 = Disable (G/N)

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834

Set

SLAT Set Point

835 Set SLAT Time Delay - - - - - Y -

610 Set Stopping Action - - - R R R R O-Enum

1 = Current Decel Disable (F/Y) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/Y)

4 = Ramped Decel Hold (V/Y)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612

Set

Stopping Time Limit

(F/V26/V27)

496 Set System Inertia - - - - R R N

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - - - Y Y Y

828 Set Torque Lead Lag Filter Gain - - - - Y Y Y

554

Set

Torque Loop Bandwidth

Chapter 3 Interpret the Attribute Tables

196 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - - Y Y Y V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - - Y Y Y V26/V27

837 Set Torque Notch Filter High

Frequency Limit

- - - - Y Y Y V26/V27

838 Set Torque Notch Filter Low

Frequency Limit

- - - - Y Y Y V26/V27

842

Get

Torque Notch Filter Magnitude

Estimate

V26/V27

839 Set Torque Notch Filter Tuning

Threshold

- - - - Y Y Y V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

510

Set

Undertorque Limit

511 Set Undertorque Limit Time - - - N Y Y Y

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466 Set Velocity Error Tolerance Time - - - - Y Y -

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - - R R - O-Bits

1: Auto-Preset (N)

468 Set Velocity Integrator Preload - - - - N N -

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458

Get

Velocity Limit Source

V29

471 Set Velocity Lock Tolerance - - - Y Y Y -

469 Set Velocity Low Pass Filter

Bandwidth

- - - - Y Y -

790 Set Velocity Negative Feedforward

Gain

- - - - Y Y -

470/327 Set Velocity Threshold - - Y Y Y Y Y

589

Set

Vertical Load Control

V31

608 Set Zero Speed - - - Y Y Y Y V26/V27

609

Set

Zero Speed Time

V26/V27

The Kinetix 5700 Regenerative Bus Supply modules include these catalog

numbers:

• 2198-RP088 Kinetix 5700 Regenerative Bus Supply, 24kW, 35A / 88A

• 2198-RP200 Kinetix 5700 Regenerative Bus Supply, 67kW, 100A / 200A

• 2198-RP263 Kinetix 5700 Regenerative Bus Supply, 119kW, 176A / 263A

• 2198-RP312 Kinetix 5700 Regenerative Bus Supply, 140kW, 207A / 312A

These drive modules support the optional attributes and corresponding

control mode functionality as indicated in this table.

Kinetix 5700 Regenerative

Bus Supply Module Optional

Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 197

Access Rule

Attribute Name

Conditional Implementation

955

Set

AC Line Contactor Input Checking

V32

2034

Set

AC Line Current Unbalance Limit

V32

2225 Get AC Line Electrical Angle Y - - - - - - V32

2245 Set AC Line Frequency Change Action N - - - - - - O-Enum V32

0 = Continue (N)

2246 Set AC Line Frequency Change

Threshold

Y - - - - - - V32

2247 Set AC Line Frequency Change Time Y - - - - - - V32

2284

Set

AC Line High Freq User Limit

V32

2286 Set AC Line High Freq User Limit -

Alternate

N - - - - - - V32

2285 Set AC Line Low Freq User Limit N - - - - - - V32

2287 Set AC Line Low Freq User Limit -

Alternate

N - - - - - - V32

2289

Set

AC Line Overload User Limit

V32

2280

Set

AC Line Overvoltage User Limit

V32

2282 Set AC Line Overvoltage User Limit -

Alternate

N - - - - - - V32

923

Set

AC Line Resonance User Limit

V32

2041

Set

AC Line Source Impedance

V32

2043 Set AC Line Source Impedance -

Alternate

N - - - - - - V32

2042

Set

AC Line Source Power

V32

2044

Set

AC Line Source Power - Alternate

V32

2040

Set

AC Line Source Select

V32

2035

Set

AC Line Sync Error Tolerance

V32

2248 Set AC Line Sync Loss Action N - - - - - - O-Enum V32

0 = Continue (N)

2249 Set AC Line Sync Loss Time Y - - - - - - V32

2281

Set

AC Line Undervoltage User Limit

V32

2283 Set AC Line Undervoltage User Limit -

Alternate

N - - - - - - V32

2240 Set AC Line Voltage Sag Action N - - - - - - O-Enum V32

0 = Continue (N)

2241 Set AC Line Voltage Sag Threshold Y - - - - - - V32

2242

Set

AC Line Voltage Sag Time

V32

2014 Set AC Line Voltage Time Constant Y - - - - - - V32

2033

Set

AC Line Voltage Unbalance Limit

V32

367

Get

Acceleration Fine Command

485 Set Acceleration Limit - - N N N N

482

Get

Acceleration Reference

481

Set

Acceleration Trim

2091

Set

Active Current Command

V32

2106

Get

Active Current Error

V32

2118

Get

Active Current Feedback

V32

2094 Set Active Current Low Pass Filter

Bandwidth

N - - - - - - V32

2095 Set Active Current Notch Filter

Frequency

N - - - - - - V32

2096

Set

Active Current Rate Limit

V32

Chapter 3 Interpret the Attribute Tables

198 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

2093

Set

Active Current Trim

V32

836

Set

Adaptive Tuning Configuration

V26/V27

844 Get Adaptive Tuning Gain Scaling

Factor

- - - N N N V26/V27

732/267

Get

Analog Input 1

733/268

Get

Analog Input 2

734

Set

Analog Output 1

735

Set

Analog Output 2

873 Set Auto Sag Configuration - - - N N N N V26/V27

874 Set Auto Sag Slip Increment - - - N N N N V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

876 Set Auto Sag Start - - - N N N N V26/V27

19 Set Axis Features R R R R R R R O-Bits

0: Fine Interpolation (Y)

1: Registration Auto-rearm (Y)

2: Alarm Log (Y)

5: Hookup Test (Y)

6: Commutation Test (Y)

7: Motor Test (Y)

8: Inertia Test (Y)

9: Sensorless Control (N)

10: Drive Scaling (N) Vxx

11: Ext. Event Block (N) Vxx

12: Integer Cmd. Pos. (N) Vxx

13: Ext. Motor Test (N) V29

14: Control Mode Change (N) V26/V27

15: Feedback Mode Change (N) Vxx

16: Pass Bus Status (Y) V26/V27

17: Pass Bus Unload (Y) V26/V27

18: Ext. Speed for SPM (N) Vxx

19: Ext. Speed for IPM (Y) V29

20: Ext. Pos. Feedback (N) Vxx

22: Ext. Sub Code Format (Y) V32

753

Get

Axis Safety Alarms

V32

988 Get Axis Safety Alarms - RA - - N N N N N V32

986

Get

Axis Safety Data A

V31

987 Get Axis Safety Data B - - - N N N N V31

763

Get

Axis Safety Faults

V24

985

Get

Axis Safety Faults - RA

V31

760 Get Axis Safety State - - N N N N N V24

761

Get

Axis Safety Status

V24

984

Get

Axis Safety Status - RA

V31

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592 Set Brake Test Torque - - - N N N N V26/V27

816 Set Bus Observer Bandwidth N - - - - - - V32

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 199

Access Rule

Attribute Name

Conditional Implementation

815 Set Bus Observer Configuration Y - - - - - - O-Enum V32

1 = Bus Observer Only (Y)

2 = Bus Observer with Voltage Estimate (Y)

3 = Voltage Estimate Only (Y)

812 Get Bus Observer Current Estimate N - - - - - - V32

817 Set Bus Observer Integrator

Bandwidth

N - - - - - - V32

811 Get Bus Observer Voltage Rate

Estimate

Y - - - - - - V32

2338 Get Bus Output Overvoltage Factory

Limit 1

N N - N N N N Vxx

2358 Get Bus Output Overvoltage Factory

Limit 2

N N - N N N N Vxx

2339 Get Bus Output Undervoltage Factory

Limit 1

N N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory

Limit 2

N N - N N N N Vxx

638/262 Get Bus Regulator Capacity N N - N N N N

2065

Set

Bus Voltage Error Tolerance

V32

2066

Set

Bus Voltage Error Tolerance Time

V32

2334 Get Bus Voltage Output 1 N N - N N N N Vxx

2354

Get

Bus Voltage Output 2

Vxx

2064

Set

Bus Voltage Rate Limit

V32

2050

Get

Bus Voltage Reference

V32

2336

Get

Bus Voltage Reference 1

Vxx

2356

Get

Bus Voltage Reference 2

Vxx

2061 Set Bus Voltage Reference Source Y - - - - - - V32

2060

Set

Bus Voltage Set Point

V32

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

746

Get

CIP Axis Alarms 2

V32

927 Get CIP Axis Alarms 2 - RA Y N N N N N N V32

748

Set

CIP Axis Exception Action 2

V32

909

Set

CIP Axis Exception Action 2 - RA

V32

744 Get CIP Axis Faults 2 R N N N N N N V32

903

Get

CIP Axis Faults 2 - RA

V32

740

Get

CIP Axis Status 2

V32

924 Get CIP Axis Status 2 - RA R N N N N N N V32

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset

Compensation

- - - - N N N PM Motor only, V29

563 Set Commutation Polarity - - - - N N N PM Motor only

562 Set Commutation Self-Sensing

Current

- - - - N N N PM Motor only

618 Set Connection Loss Stopping Action - - - N N N N O-Enum V31

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

2030 Set Converter AC Input Frequency N - - - - - - V32

Chapter 3 Interpret the Attribute Tables

200 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

2031 Set Converter AC Input Phasing N - - - - - - O-Enum V32

1 = Single (N)

2032 Set Converter AC Input Voltage N - - - - - - V32

637 Get Converter Capacity Y N - N N N N

1280 Set* Converter Configuration R - - - - - - O-Enum V32

1 = Active Current Control (N)

2001

Set

Converter Control Mode

Derived, V32

2231 Set Converter Current Integrator

Bandwidth

Y - - - - - - V32

2103 Get Converter Current Limit Source Y - - - - - - V32

2230 Set Converter Current Loop

Bandwidth

Y - - - - - - V32

2322 Set Converter Current Loop Damping N - - - - - - V32

2321 Set Converter Current Loop Tuning

Method

N - - - - - - V32

2232

Set

Converter Current Vector Limit

V32

709 Set Converter Ground Current User

Limit

Y - - - - - - V32

2288 Set Converter Heatsink Overtemp

User Limit

N - - - - - - V32

2243 Set Converter Input Phase Loss

Action

N - - - - - - O-Enum V32

0 = Continue (N)

2244

Set

Converter Input Phase Loss Time

V32

596

Set

Converter Motoring Power Limit

V32

2100

Get

Converter Operative Current Limit

V32

2337

Get

Converter Output Capacity 1

Vxx

2357 Get Converter Output Capacity 2 N N - N N N N Vxx

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Power

V26/V27

2331 Get Converter Output Power 1 N N - N N N N Vxx

2351 Get Converter Output Power 2 N N - N N N N Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352 Get Converter Output Rated Current 2 N N - N N N N Vxx

2333 Get Converter Output Rated Power 1 N N - N N N N Vxx

2353 Get Converter Output Rated Power 2 N N - N N N N Vxx

2268 Set Converter Overload Action N - - - - - - O-Enum V32

1 = Current Foldback (N)

700 Set Converter Overtemperature User

Limit

N - - - - - - V32

921 Set Converter Pre-Charge Overload

User Limit

N - - - - - - V32

626 Set Converter Regenerative Power

Limit

Y N - - - - - V32

2003 Set Converter Startup Method Y - - - - - - O-Enum V32

1 = Enable Input (N)

2 = Automatic (Y)

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 201

Access Rule

Attribute Name

Conditional Implementation

701 Set Converter Thermal Overload User

Limit

Y - - - - - - V32

840

Set

Current Disturbance

527

Get

Current Error

529 Get Current Feedback - - - - N N N

522

Get

Current Limit Source

(F/V29)

524

Get

Current Reference

553 Set Current Vector Limit - - - N N N N

870

Set

DC Injection Brake Current

872 Set DC Injection Brake Time - - - N N N N

486

Set

Deceleration Limit

730

Get

Digital Inputs

731 Set Digital Outputs N N - N N N N

885

Set

External Bus Capacitance

Derived, V32

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421

Set

Feedback 1 Data Code

TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425 Set Feedback 1 Resolver Cable

Balance

- - N - N N N RS

1424 Set Feedback 1 Resolver Excitation

Frequency

- - N - N N N RS

1423 Set Feedback 1 Resolver Excitation

Voltage

- - N - N N N RS

1422 Set Feedback 1 Resolver Transformer

Ratio

- - N - N N N RS

1401

Get

Feedback 1 Serial Number

1415 Set Feedback 1 Startup Method - - R - R R R O-Enum

1 = Absolute (N)

1434 Set Feedback 1 Velocity Filter

Bandwidth

- - N - N N N

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter

Bandwidth

- - N - N N N

2454 Set Feedback 2 Accel Filter Taps - - N - N N N

2455 Set Feedback 2 Battery Absolute - - N - N N N TM

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475 Set Feedback 2 Resolver Cable

Balance

- - N - N N N RS

Chapter 3 Interpret the Attribute Tables

202 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

1474 Set Feedback 2 Resolver Excitation

Frequency

- - N - N N N RS

1473 Set Feedback 2 Resolver Excitation

Voltage

- - N - N N N RS

1472 Set Feedback 2 Resolver Transformer

Ratio

- - N - N N N RS

1451 Get Feedback 2 Serial Number - - N - N N N

1465 Set Feedback 2 Startup Method - - R - R R R O-Enum

1 = Absolute (N)

1484 Set Feedback 2 Velocity Filter

Bandwidth

- - N - N N N

2453 Set Feedback 2 Velocity Filter Taps - - N - N N N

250 Set Feedback Commutation Aligned - - - - N N N O-Enum

2 = Motor Offset (N)

3 = Self-Sense (N)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R R O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (P/N)(V/N)(T/N)

4 = Dual Feedback (P/N)

8 = Dual Integrator Feedback (P/N)

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557

Set

Flux Integral Time Constant

556

Set

Flux Loop Bandwidth

558 Set Flux Up Control - - - N N N N Ind Motor only

O-Enum

1 = Manual Delay (N)

2 = Automatic Delay (N)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - - N - N -

381 Set Flying Start Method - - - N - N - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (N)

129 = Sensorless Vector (N)

130 = Sensorless Vector Economy (N)

498

Set

Friction Compensation Sliding

499 Set Friction Compensation Static - - - - N N N

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243

Get

Guard Faults

980/242

Get

Guard Status

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 203

Access Rule

Attribute Name

Conditional Implementation

280

Set

Home Torque Threshold

Vxx

281

Set

Home Torque Time

Vxx

1349 Set Induction Motor Magnetization

Reactance

- - - N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - - N N N N Ind Motor only, V26/V27

1350 Set Induction Motor Rotor Resistance - - - N N N N Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - - N N N N Ind Motor only, V26/V27

647 Set Inverter Overload Action - - - N N N N O-Enum

1 = Current Foldback (N)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699 Set Inverter Thermal Overload User

Limit

- - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313 Set Linear Motor Integral Limit Switch - - - N N N N Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration

Estimate

- - - - N N N

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - - N N N O-Enum

1 = Load Observer Only (N)

2 = Load Observer With Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (N)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator

Bandwidth

- - - - N N N

802 Get Load Observer Torque Estimate - - - - N N N

750 Set Local Control N N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616 Set Mechanical Brake Engage Delay - - - N N N N

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration - - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - - - R R R R O-Enum

1 = Database (N)

2 = Drive NV (N)

3 = Motor NV (N)

1323

Set

Motor Integral Thermal Switch

1324 Set Motor Max Winding Temperature - - - N N N N

646 Set Motor Overload Action - - - N N N N O-Enum

1 = Current Foldback (N)

1322

Set

Motor Overload Limit

695 Set Motor Overspeed User Limit - - - N N N N

Chapter 3 Interpret the Attribute Tables

204 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

694

Set

Motor Phase Loss Limit

V26/V27

1317

Set

Motor Polarity

1321 Set Motor Rated Output Power - - - N N N N O-PM

1320

Set

Motor Rated Peak Current

O-IM

697 Set Motor Thermal Overload User

Limit

- - - N N N N

1325

Set

Motor Winding to Ambient

Capacitance

1326 Set Motor Winding to Ambient

Resistance

- - - N N N N

521

Get

Operative Current Limit

F Support in V29

600 Get Output Frequency - - - R N N N

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355

Set

PM Motor Extended Speed

Permissive

V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

2315 Set PM Motor Ld Flux Saturation - - - N N N N IPM Motor only, V29

1358 Set PM Motor Linear Bus Overvoltage

Speed

- - - - N N N V29

1359 Set PM Motor Linear Max Extended

Speed

- - - - N N N V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29

1342 Set PM Motor Rated Force - - - N N N N Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356 Set PM Motor Rotary Bus Overvoltage

Speed

- - - - N N N V29

1357 Set PM Motor Rotary Max Extended

Speed

- - - - N N N V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365 Get Position Fine Command - - - - N - -

446 Set Position Integrator Control - - - - R - - O-Bits

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781 Set Position Lead Lag Filter

Bandwidth

- - - - N - -

782 Set Position Lead Lag Filter Gain - - - - N - -

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action N N - N N N N O-Enum

2 = Decel Regen (FPVT/N)

628

Set

Power Loss Threshold

630 Set Power Loss Time Y N - N N N N

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377 Set* Ramp Deceleration - - - N - N - Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - - N - N - Derived

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 205

Access Rule

Attribute Name

Conditional Implementation

2092 Set Reactive Current Command N - - - - - - V32

2107 Get Reactive Current Error Y - - - - - - V32

2119 Get Reactive Current Feedback Y - - - - - - V32

2097 Set Reactive Current Rate Limit N - - - - - - V32

2002 Set Reactive Power Control N - - - - - - V32

2073 Set Reactive Power Rate Limit N - - - - - - V32

2070 Set Reactive Power Set Point N - - - - - - V32

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - - N N N N Rotary Motor only

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330 Set Rotary Motor Inertia - - - - N N N Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

766 Set Safe Stopping Action - - - N N N N O-Enum V31

1 = Current Decel (F/N)

2 = Ramped Decel (FV/N)

767 Set Safe Stopping Action Source - - - N N N N O-Enum V31

1 = Running Controller (N)

765 Set Safe Torque Off Action - - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

759 Set Safe Torque Off Action Source - - - N N N N O-Enum V31

1 = Running Controller (N)

758 Set Safety Fault Action - - N N N N N O-Enum V32

0 = Ignore (EFPVT/N)

1 = Alarm (EFPVT/N)

2 = Fault Status Only (FPVT/N)

3 = Stop Planner (FPVT/N)

629 Set Shutdown Action Y N - N N N N O-Enum

0 = Disable (G/Y)

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372 Set Skip Speed 3 - - - N - - -

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834 Set SLAT Set Point - - - - - N -

835 Set SLAT Time Delay - - - - - N -

Chapter 3 Interpret the Attribute Tables

206 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access Rule

Attribute Name

Conditional Implementation

610 Set Stopping Action - - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/N)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612 Set Stopping Time Limit - - - N N N N (F/V26/V27)

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828

Set

Torque Lead Lag Filter Gain

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - - N N N V26/V27

837 Set Torque Notch Filter High

Frequency Limit

- - - - N N N V26/V27

838

Set

Torque Notch Filter Low

Frequency Limit

V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - - - N N N V26/V27

839 Set Torque Notch Filter Tuning

Threshold

- - - - N N N V26/V27

591

Set

Torque Prove Current

V26/V27

506 Set Torque Rate Limit - - - - N N N

507/334

Set

Torque Threshold

510

Set

Undertorque Limit

511 Set Undertorque Limit Time - - - N N N N

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466 Set Velocity Error Tolerance Time - - - - N N -

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - - R R - O-Bits

1: Auto-Preset (N)

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458

Get

Velocity Limit Source

V29

471 Set Velocity Lock Tolerance - - - N N N -

469 Set Velocity Low Pass Filter

Bandwidth

- - - - N N -

790 Set Velocity Negative Feedforward

Gain

- - - - N N -

470/327

Set

Velocity Threshold

589

Set

Vertical Load Control

V31

608 Set Zero Speed - - - N N N N V26/V27

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 207

Access Rule

Attribute Name

Conditional Implementation

609

Set

Zero Speed Time

V26/V27

The following table identifies the optional attributes and corresponding

control mode functionality supported by a Kinetix 6500 drive module.

Access

Rule

Attribute Name

Conditional Implementation

367 Get Acceleration Fine Command - - Y Y Y

485 Set Acceleration Limit - N Y Y N

482 Get Acceleration Reference - - Y Y N

481 Set Acceleration Trim - - N N N

1376

Set

Actuator Diameter

DScale

1377

Set

Actuator Diameter Unit

DScale

1374 Set Actuator Lead N N N N N DScale

1375

Set

Actuator Lead Unit

DScale

1373

Set

Actuator Type

DScale

836

Set

Adaptive Tuning Configuration

844

Get

Adaptive Tuning Gain Scaling Factor

732/267

Get

Analog Input 1

733/268

Get

Analog Input 2

734 Set Analog Output 1 B B N N N N

735

Set

Analog Output 2

873

Set

Auto Sag Configuration

V26/V27

874 Set Auto Sag Slip Increment - - N N N N V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

876

Set

Auto Sag Start

V26/V27

30 Set Axis Configuration R R R R R O-Enum

0 = Feedback Only (Y)

1 = Frequency Control (N)

2 = Position Loop (Y)

3 = Velocity Loop (Y)

4 = Torque Loop (Y)

19 Set Axis Features R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (N)

8 = Inertia Test (Y)

9 = Sensorless Control (N)

986 Get Axis Safety Data A - - N N N N V31

987

Get

Axis Safety Data B

V31

763

Get

Axis Safety Faults

985 Get Axis Safety Faults - RA - N N N N N V31

760

Get

Axis Safety State

761 Get Axis Safety Status O O O O Y

984 Get Axis Safety Status - RA - N N N N N V31

Kinetix 6500 Drive Module

Optional Attributes

Chapter 3 Interpret the Attribute Tables

208 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute Name

Conditional Implementation

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

2338

Get

Bus Output Overvoltage Factory Limit 1

Vxx

2358

Get

Bus Output Overvoltage Factory Limit 2

Vxx

2339 Get Bus Output Undervoltage Factory Limit

N - N N N N Vxx

2359 Get Bus Output Undervoltage Factory Limit

N - N N N N Vxx

638/262 Get Bus Regulator Capacity - N Y Y Y

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

850

Set

Commutation Offset Compensation

PM Motor only, V29

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing Current - - Y Y Y PM Motor only O-Value = 100

618 Set Connection Loss Stopping Action - - N N N N O-Enum V31

1 = Current Decel Disable (F/Y)

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

637

Get

Converter Capacity

2337

Get

Converter Output Capacity 1

Vxx

2357 Get Converter Output Capacity 2 N - N N N N Vxx

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Power

V26/V27

2331

Get

Converter Output Power 1

Vxx

2351

Get

Converter Output Power 2

Vxx

2332 Get Converter Output Rated Current 1 N - N N N N Vxx

2352

Get

Converter Output Rated Current 2

Vxx

2333 Get Converter Output Rated Power 1 N - N N N N Vxx

2353 Get Converter Output Rated Power 2 N - N N N N Vxx

840

Set

Current Disturbance

527 Get Current Error - - Y Y Y

529

Get

Current Feedback

522

Get

Current Limit Source

524

Get

Current Reference

553

Set

Current Vector Limit

2334

Get

DC Bus Output Voltage 1

Vxx

2354 Get DC Bus Output Voltage 2 N - N N N N Vxx

742

Get

DC Bus Output Voltage Reference

Vxx

2336

Get

DC Bus Output Voltage Reference 1

Vxx

2356

Get

DC Bus Output Voltage Reference 2

Vxx

870

Set

DC Injection Brake Current

Ind Motor only

872

Set

DC Injection Brake Time

Ind Motor only

486

Set

Deceleration Limit

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 209

Access

Rule

Attribute Name

Conditional Implementation

730

Get

Digital Inputs

731

Set

Digital Outputs

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421

Set

Feedback 1 Data Code

TP,SS

1420 Set Feedback 1 Data Length N - N N N TP,SS

2400 Set Feedback 1 Loss Action N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation

Frequency

N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401 Get Feedback 1 Serial Number Y - Y Y Y

1415 Set Feedback 1 Startup Method R - R R R O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485

Set

Feedback 2 Accel Filter Bandwidth

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation

Frequency

N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472 Set Feedback 2 Resolver Transformer

Ratio

N - N N N RS

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method R - R R R O-Enum

1 = Absolute (Y)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453

Set

Feedback 2 Velocity Filter Taps

250

Set

Feedback Commutation Aligned

O-Enum

2 = Motor Offset (Y)

3 = Self-Sense (Y)

31 Set* Feedback Configuration R R R R R O-Enum

0 = No Feedback (V/N)

3 = Load Feedback (PVT/Y)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/N)

Chapter 3 Interpret the Attribute Tables

210 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute Name

Conditional Implementation

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

Set

Feedback Unit Ratio

871 Set Flux Braking Enable - N N N N Ind Motor only

528

Get

Flux Current Error

530 Get Flux Current Feedback - - Y Y Y

525

Get

Flux Current Reference

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - N N N

558 Set Flux Up Control - N N N N Ind Motor only, O-Enum

1 = Manual Delay (N)

2 = Automatic Delay (N)

559

Set

Flux Up Time

Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - N - N - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (N)

129 = Sensorless Vector (N)

130 = Sensorless Vector Economy (N)

498 Set Friction Compensation Sliding - - Y Y N

499

Set

Friction Compensation Static

500 Set Friction Compensation Viscous - - Y Y N

826/421

Set

Friction Compensation Window

981/243

Get

Guard Faults

980/242 Get Guard Status - N Y Y Y

280

Set

Home Torque Threshold

Vxx

281

Set

Home Torque Time

Vxx

1349 Set Induction Motor Magnetization

Reactance

- N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - N N N N Ind Motor only, V26/V27

1350 Set Induction Motor Rotor Resistance - N N N N Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - N N N N Ind Motor only, V26/V27

647 Set Inverter Overload Action - N Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (N)

129 = PWM Foldback (N)

699

Set

Inverter Thermal Overload User Limit

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313 Set Linear Motor Integral Limit Switch - N N N N Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration Estimate - - Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 211

Access

Rule

Attribute Name

Conditional Implementation

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - Y Y Y O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (Y)

3 = Velocity Estimate Only (Y)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807

Set

Load Observer Integrator Bandwidth

802

Get

Load Observer Torque Estimate

1370

Set

Load Type

DScale

750 Set Local Control N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616 Set Mechanical Brake Engage Delay - N Y Y Y

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (N)

3 = Motor NV (Y)

1323 Set Motor Integral Thermal Switch - N Y Y Y

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - N Y Y Y O-Enum

1 = Current Foldback (Y)

1322

Set

Motor Overload Limit

695

Set

Motor Overspeed User Limit

694

Set

Motor Phase Loss Limit

V26/V27

1317

Set

Motor Polarity

1321

Set

Motor Rated Output Power

N-IM

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1315 Set Motor Type - R R R R O-Enum

1 = Rotary Permanent Magnet (Y)

2 = Rotary Induction (N)

3 = Linear Permanent Magnet (Y)

4 = Linear Induction (N)

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521

Get

Operative Current Limit

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

1355

Set

PM Motor Extended Speed Permissive

V29

2310 Set PM Motor Flux Saturation - N Y Y Y PM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1358

Set

PM Motor Linear Bus Overvoltage Speed

V29

Chapter 3 Interpret the Attribute Tables

212 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute Name

Conditional Implementation

1359

Set

PM Motor Linear Max Extended Speed

V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29/V29

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29/V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1356

Set

PM Motor Rotary Bus Overvoltage

Speed

V29

1357

Set

PM Motor Rotary Max Extended Speed

V29

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446 Set Position Integrator Control - - R - - O-Bits

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter Bandwidth

782

Set

Position Lead Lag Filter Gain

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - N N N N O-Enum

1 = Coast Thru (N)

2 = Decel Regen (N)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

Comparable attribute 1100, FW2.013

376

Set*

Ramp Acceleration

Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375 Set* Ramp Velocity - Negative - N - N - Derived

374

Set*

Ramp Velocity - Positive

Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312

Set

Rotary Motor Fan Cooling Derating

Rotary Motor only

2311 Set Rotary Motor Fan Cooling Speed - N N N N Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

629 Set Shutdown Action - N Y Y Y O-Enum

1 = Drop DC Bus (Y)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372 Set Skip Speed 3 - N - - -

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - R R R R O-Enum

2 = Ramped Decel Disable (FPV/N)

3 = Current Decel Hold (PV/Y)

4 = Ramped Decel Hold (PV/N)

128 = DC Injection Brake (IM/N)

129 = AC Injection Brake (IM/N)

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 213

Access

Rule

Attribute Name

Conditional Implementation

612 Set Stopping Time Limit - - Y Y Y

496 Set System Inertia - - R R N

555 Set Torque Integral Time Constant - - N N N

827

Set

Torque Lead Lag Filter Bandwidth

828 Set Torque Lead Lag Filter Gain - - Y Y Y

554

Set

Torque Loop Bandwidth

502 Set Torque Low Pass Filter Bandwidth - - Y Y Y

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency

Estimate

- - - N N N V26/V27

837 Set Torque Notch Filter High Frequency

Limit

- - - N N N V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - - N N N V26/V27

842 Get Torque Notch Filter Magnitude

Estimate

- - - N N N V26/V27

839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510 Set Undertorque Limit - N Y Y Y

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466

Set

Velocity Error Tolerance Time

366 Get Velocity Fine Command - - Y Y -

467 Set Velocity Integrator Control - - R R - O-Bits

1: Auto-Preset (N)

468

Set

Velocity Integrator Preload

474/326 Set Velocity Limit - Negative - N Y Y -

473/325 Set Velocity Limit - Positive - N Y Y -

471

Set

Velocity Lock Tolerance

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - Y Y -

470/327

Set

Velocity Threshold

589

Set

Vertical Load Control

V31

608

Set

Zero Speed

Comparable attributes 3012 and 3014, FW2.023

609 Set Zero Speed Time - - N N N N Comparable attributes 3013 and 3015, FW2.023

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex 527 drive module.

PowerFlex 527 Axis

Instance Optional Attributes

Chapter 3 Interpret the Attribute Tables

214 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

367

Get

Acceleration Fine Command

485

Set

Acceleration Limit

482

Get

Acceleration Reference

481

Set

Acceleration Trim

1376

Set

Actuator Diameter

DScale

1377

Set

Actuator Diameter Unit

DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit - N N N N N DScale

1373 Set Actuator Type - N N N N N DScale

836

Set

Adaptive Tuning Configuration

Vxx

844 Get Adaptive Tuning Gain Scaling Factor - - - N N N Vxx

732/267

Get

Analog Input 1

733/268

Get

Analog Input 2

734

Set

Analog Output 1

735

Set

Analog Output 2

873

Set

Auto Sag Configuration

Vxx

874 Set Auto Sag Slip Increment - - N N N N Vxx

875

Set

Auto Sag Slip Time Limit

Vxx

876

Set

Auto Sag Start

Vxx

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N)

11 = Ext. Event Block (N)

12 = Integer Cmd. Pos. (N)

13 = Ext. Motor Test (N)

763

Get

Axis Safety Faults

V24

760 Get Axis Safety State - N Y Y Y N V24

761

Get

Axis Safety Status

V24

825 Set Backlash Compensation Window - - - N - -

593

Set

Brake Prove Ramp Time

Vxx

594

Set

Brake Slip Tolerance

Vxx

592 Set Brake Test Torque - - N N N N Vxx

638/262

Get

Bus Regulator Capacity

659 Get CIP Axis Alarms N N Y Y Y N

904

Get

CIP Axis Alarms - RA

563 Set Commutation Polarity - - - N N N PM Motor only

562

Set

Commutation Self-Sensing Current

PM Motor only O-Value = #

637

Get

Converter Capacity

840 Set Current Disturbance - - - N N N

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 215

Access

Rule

Attribute

Conditional Implementation

524

Get

Current Reference

553

Set

Current Vector Limit

870

Set

DC Injection Brake Current

872

Set

DC Injection Brake Time

486

Set

Deceleration Limit

730

Get

Digital Inputs

731

Set

Digital Outputs

1435 Set Feedback 1 Accel Filter Bandwidth - N - N N N

2404 Set Feedback 1 Accel Filter Taps - N - N N N

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code - N - N N N TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1= Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425

Set

Feedback 1 Resolver Cable Balance

1424

Set

Feedback 1 Resolver Excitation Frequency

1423

Set

Feedback 1 Resolver Excitation Voltage

1422 Set Feedback 1 Resolver Transformer Ratio - N - N N N RS

1401

Get

Feedback 1 Serial Number

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1 = Absolute (N)

1434 Set Feedback 1 Velocity Filter Bandwidth - N - Y Y N

2403

Set

Feedback 1 Velocity Filter Taps

1485

Set

Feedback 2 Accel Filter Bandwidth

2454 Set Feedback 2 Accel Filter Taps - N - N N N

2455

Set

Feedback 2 Battery Absolute

1471 Set Feedback 2 Data Code - N - N N N TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N) 2 = Switch

to Redundant Fdbk (N)

1464 Set Feedback 2 Polarity - N - N N N

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472

Set

Feedback 2 Resolver Transformer Ratio

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1= Absolute (N)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - N N N O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N)

Chapter 3 Interpret the Attribute Tables

216 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

31 Set Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/N)(T/N)

3 = Load Feedback (PVT/N)

4 = Dual Feedback (P/N)

8 = Dual Integrator Feedback (P/N)

708 Set Feedback Data Loss User Limit - N N N N N

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528 Get Flux Current Error - - - N N N

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557 Set Flux Integral Time Constant - - - N N N

556

Set

Flux Loop Bandwidth

558 Set Flux Up Control - - N N N N Ind Motor only, O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - N - N -

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500

Set

Friction Compensation Viscous

826/421 Set Friction Compensation Window - - - N - -

981/243

Get

Guard Faults

980/242

Get

Guard Status

1349 Set Induction Motor Magnetization Reactance - - N N N N Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351

Set

Induction Motor Rotor Leakage Reactance

Ind Motor only, V24

1350 Set Induction Motor Rotor Resistance - - N N N N Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y N Ind Motor only, V24

647 Set Inverter Overload Action - - Y Y Y N O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699

Set

Inverter Thermal Overload User Limit

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration Estimate

806 Set Load Observer Bandwidth - - - N N N

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 217

Access

Rule

Attribute

Conditional Implementation

805 Set Load Observer Configuration - - - N N N O-Enum

1 = Load Observer Only (N)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (N)

809 Set Load Observer Feedback Gain - - - N N N

807

Set

Load Observer Integrator Bandwidth

802

Get

Load Observer Torque Estimate

1370

Set

Load Type

DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251 Set Motor Catalog Number - - N N N N Dr NV

1313 Set Motor Data Source - - R R R R O-Enum

1 = Database (N)

2 = Drive NV (N)

3 = Motor NV (N)

1323

Set

Motor Integral Thermal Switch

1324 Set Motor Max Winding Temperature - - N N N N

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322

Set

Motor Overload Limit

695

Set

Motor Overspeed User Limit

694

Set

Motor Phase Loss Limit

V24

1317

Set

Motor Polarity

1321

Set

Motor Rated Output Power

O-IM

1320

Set

Motor Rated Peak Current

O-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521

Get

Operative Current Limit

600

Get

Output Frequency

508

Set

Overtorque Limit

509 Set Overtorque Limit Time - - Y Y Y N

2310

Set

PM Motor Flux Saturation

PM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1342 Set PM Motor Rated Force - - N N N N Rotary PM Motor only

1339

Set

PM Motor Rated Torque

Rotary PM Motor only

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445 Set Position Error Tolerance Time - - - Y - -

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1 = Auto-Preset (N)

447

Set

Position Integrator Preload

Chapter 3 Interpret the Attribute Tables

218 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

781

Set

Position Lead Lag Filter Bandwidth

782

Set

Position Lead Lag Filter Gain

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - - Y Y Y N O-Enum

2 = Decel Regen (Y)

628

Set

Power Loss Threshold

630 Set Power Loss Time N - Y Y Y N

590

Set

Proving Configuration

Vxx

376

Set*

Ramp Acceleration

Derived

377 Set* Ramp Deceleration - - Y - Y - Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - Y - Y - Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312

Set

Rotary Motor Fan Cooling Derating

Rotary Motor only

2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (N)

370

Set

Skip Speed 1

371

Set

Skip Speed 2

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834 Set SLAT Set Point - - - - N -

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

2 = Ramped Decel Disable (FP/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

612

Set

Stopping Time Limit

496 Set System Inertia - - - R R N

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828 Set Torque Lead Lag Filter Gain - - - Y Y N

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843

Get

Torque Low Pass Filter Bandwidth

Estimate

Vxx

503

Set

Torque Notch Filter Frequency

841

Get

Torque Notch Filter Frequency Estimate

Vxx

837 Set Torque Notch Filter High Frequency Limit - - - N N N Vxx

838

Set

Torque Notch Filter Low Frequency Limit

Vxx

842

Get

Torque Notch Filter Magnitude Estimate

Vxx

839 Set Torque Notch Filter Tuning Threshold - - - N N N Vxx

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 219

Access

Rule

Attribute

Conditional Implementation

591

Set

Torque Prove Current

Vxx

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

466 Set Velocity Error Tolerance Time - - - Y Y -

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1 = Auto-Preset (N)

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

471 Set Velocity Lock Tolerance - - N Y Y -

469

Set

Velocity Low Pass Filter Bandwidth

790

Set

Velocity Negative Feedforward Gain

470/327 Set Velocity Threshold - N N Y Y N

608

Set

Zero Speed

V24

609

Set

Zero Speed Time

V24

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex 755-EENET-CM drive

module.

Access

Attribute

Conditional Implementation

367 Get Acceleration Fine Command - - - N N N

485

Set

Acceleration Limit

482 Get Acceleration Reference - - - N N N

481

Set

Acceleration Trim

1376

Set

Actuator Diameter

DScale

1377

Set

Actuator Diameter Unit

DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit - N N N N N DScale

1373

Set

Actuator Type

DScale

836 Set Adaptive Tuning Configuration - - - N N N V26/V27

844

Get

Adaptive Tuning Gain Scaling Factor

V26/V27

732/267 Get Analog Input 1 N - Y Y Y Y

733/268

Get

Analog Input 2

734

Set

Analog Output 1

735 Set Analog Output 2 N - Y Y Y Y

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

PowerFlex 755 Standard

Drive Module Optional

Attributes

Chapter 3 Interpret the Attribute Tables

220 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

876

Set

Auto Sag Start

V26/27

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos (N) Vxx

13 = Ext. Motor Test (N) Vxx

763 Get Axis Safety Faults - N N N N N V24/V25

760

Get

Axis Safety State

V24/V25

761

Get

Axis Safety Status

V24/V25

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592 Set Brake Test Torque - - Y Y Y Y V26/V27

638/262 Get Bus Regulator Capacity N - N N N N

659

Get

CIP Axis Alarms

904 Get CIP Axis Alarms - RA N Y Y Y Y Y

617

Set

Coasting Time Limit

V26/V27

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing Current - - - N N N PM Motor only

O-Value = #

637

Get

Converter Capacity

605

Get

Converter Output Current

V26/V27

606 Get Converter Output Power N - N N N N V26/V27

840

Set

Current Disturbance

527

Get

Current Error

529 Get Current Feedback - - - Y Y Y

522

Get

Current Limit Source

524

Get

Current Reference

553 Set Current Vector Limit - - Y N N N

870

Set

DC Injection Brake Current

872

Set

DC Injection Brake Time

486 Set Deceleration Limit - - N N N N

730

Get

Digital Inputs

731 Set Digital Outputs N - Y Y Y Y

1435

Set

Feedback 1 Accel Filter Bandwidth

2404 Set Feedback 1 Accel Filter Taps - N - N N N

2405

Set

Feedback 1 Battery Absolute

1421

Set

Feedback 1 Data Code

TP,SS

1420 Set Feedback 1 Data Length - Y - Y Y Y TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1= Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 221

Access

Attribute

Conditional Implementation

1414

Set

Feedback 1 Polarity

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401

Get

Feedback 1 Serial Number

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464 Set Feedback 2 Polarity - Y - Y Y Y

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473 Set Feedback 2 Resolver Excitation Voltage - N - N N N RS

1472

Set

Feedback 2 Resolver Transformer Ratio

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1= Absolute (Y)

1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N) (V/N) (T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/Y)

708 Set Feedback Data Loss User Limit - N N N N N

706

Set

Feedback Noise User Limit

707 Set Feedback Signal Loss User Limit - N N N N N

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528 Get Flux Current Error - - - N N N

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557 Set Flux Integral Time Constant - - - N N N

556

Set

Flux Loop Bandwidth

Chapter 3 Interpret the Attribute Tables

222 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - Y - Y -

381 Set Flying Start Method - - N - N - Vxx/Vxx

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499 Set Friction Compensation Static - - - N N N

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243 Get Guard Faults - - N N N N

980/242

Get

Guard Status

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699 Set Inverter Thermal Overload User Limit - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336 Set Linear Motor Mass - - N N N N Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration Estimate

806 Set Load Observer Bandwidth - - - Y Y N

805 Set Load Observer Configuration - - - Y Y N O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator Bandwidth - - - N N N

802

Get

Load Observer Torque Estimate

1370 Set Load Type - N N N N N DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 223

Access

Attribute

Conditional Implementation

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313

Set

Motor Data Source

O-Enum

1 = Database (Y)

2 = Drive NV (Y)

3 = Motor NV (N)

1323 Set Motor Integral Thermal Switch - - N N N N

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322 Set Motor Overload Limit - - Y Y Y Y

695

Set

Motor Overspeed User Limit

694

Set

Motor Phase Loss Limit

V26/V27

1317 Set Motor Polarity - - Y Y Y Y

1321

Set

Motor Rated Output Power

Y-PM

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521 Get Operative Current Limit - - N N N N

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

2310

Set

PM Motor Flux Saturation

PM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445 Set Position Error Tolerance Time - - - Y - -

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1 = Auto-Preset (N)

447

Set

Position Integrator Preload

781 Set Position Lead Lag Filter Bandwidth - - - Y - -

782

Set

Position Lead Lag Filter Gain

783 Set Position Notch Filter Frequency - - - Y - -

627 Set Power Loss Action - - Y Y Y Y O-Enum

2 = Decel Regen (Y)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - Y - Y - Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

Chapter 3 Interpret the Attribute Tables

224 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only

765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - - Y - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - - Y -

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/Y)

129 = AC Injection Brake (FPVT/Y)

612

Set

Stopping Time Limit

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - - N N N

828

Set

Torque Lead Lag Filter Gain

554 Set Torque Loop Bandwidth - - N N N

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27

837 Set Torque Notch Filter High Frequency

Limit

- - - N N N V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - - N N N V26/V27

842

Get

Torque Notch Filter Magnitude Estimate

V26/V27

839

Set

Torque Notch Filter Tuning Threshold

V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 225

Access

Attribute

Conditional Implementation

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1 = Auto-Preset (N)

468 Set Velocity Integrator Preload - - - Y Y -

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

471 Set Velocity Lock Tolerance - - Y Y Y -

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - - Y Y -

470/327

Set

Velocity Threshold

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex 755-HiPwr-EENET-CM

drive module.

Access

Attribute

Conditional Implementation

367 Get Acceleration Fine Command - - - N N N

485

Set

Acceleration Limit

482 Get Acceleration Reference - - - N N N

481 Set Acceleration Trim - - - N N N

1376

Set

Actuator Diameter

DScale

1377 Set Actuator Diameter Unit - N N N N N DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit - N N N N N DScale

1373

Set

Actuator Type

DScale

836 Set Adaptive Tuning Configuration - - - N N N V26/V27

844

Get

Adaptive Tuning Gain Scaling Factor

V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N - Y Y Y Y

734

Set

Analog Output 1

735 Set Analog Output 2 N - Y Y Y Y

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875 Set Auto Sag Slip Time Limit - - N N N N V26/V27

876

Set

Auto Sag Start

V26/27

PowerFlex 755 High Power,

Standard Drive Module

Optional Attributes

Chapter 3 Interpret the Attribute Tables

226 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos (N) Vxx

13 = Ext. Motor Test (N) Vxx

763 Get Axis Safety Faults - N N N N N V24/V25

760

Get

Axis Safety State

V24/V25

761

Get

Axis Safety Status

V24/V25

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27

592

Set

Brake Test Torque

V26/V27

638/262 Get Bus Regulator Capacity N - N N N N

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing Current - - - N N N PM Motor only

O-Value = #

637

Get

Converter Capacity

605

Get

Converter Output Current

V26/V27

606 Get Converter Output Power N - N N N N V26/V27

840

Set

Current Disturbance

527

Get

Current Error

529 Get Current Feedback - - - Y Y Y

522

Get

Current Limit Source

524 Get Current Reference - - - N N N

553 Set Current Vector Limit - - Y N N N

870

Set

DC Injection Brake Current

872 Set DC Injection Brake Time - - Y Y Y Y

486

Set

Deceleration Limit

730

Get

Digital Inputs

731

Set

Digital Outputs

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1= Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 227

Access

Attribute

Conditional Implementation

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401 Get Feedback 1 Serial Number - N - N N N

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485

Set

Feedback 2 Accel Filter Bandwidth

2454 Set Feedback 2 Accel Filter Taps - N - N N N

2455

Set

Feedback 2 Battery Absolute

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475 Set Feedback 2 Resolver Cable Balance - N - N N N RS

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1= Absolute (Y)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453 Set Feedback 2 Velocity Filter Taps - N - N N N

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N) (V/N) (T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/Y)

708

Set

Feedback Data Loss User Limit

706 Set Feedback Noise User Limit - N N N N N

707

Set

Feedback Signal Loss User Limit

44 Set Feedback Unit Ratio - - - Y N -

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530 Get Flux Current Feedback - - - Y Y Y

525

Get

Flux Current Reference

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - - N N N

Chapter 3 Interpret the Attribute Tables

228 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - Y - Y -

381 Set Flying Start Method - - N - N - Vxx/Vxx

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499 Set Friction Compensation Static - - - N N N

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243 Get Guard Faults - - N N N N

980/242

Get

Guard Status

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699 Set Inverter Thermal Overload User Limit - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336 Set Linear Motor Mass - - N N N N Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration Estimate

806 Set Load Observer Bandwidth - - - Y Y N

805 Set Load Observer Configuration - - - Y Y N O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator Bandwidth - - - N N N

802

Get

Load Observer Torque Estimate

1370 Set Load Type - N N N N N DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 229

Access

Attribute

Conditional Implementation

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313

Set

Motor Data Source

O-Enum

1 = Database (Y)

2 = Drive NV (Y)

3 = Motor NV (N)

1323 Set Motor Integral Thermal Switch - - N N N N

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322 Set Motor Overload Limit - - Y Y Y Y

695

Set

Motor Overspeed User Limit

694

Set

Motor Phase Loss Limit

V26/V27

1317 Set Motor Polarity - - Y Y Y Y

1321

Set

Motor Rated Output Power

Y-PM

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521 Get Operative Current Limit - - N N N N

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

2310

Set

PM Motor Flux Saturation

PM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445 Set Position Error Tolerance Time - - - Y - -

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1 = Auto-Preset (N)

447

Set

Position Integrator Preload

781 Set Position Lead Lag Filter Bandwidth - - - Y - -

782

Set

Position Lead Lag Filter Gain

783 Set Position Notch Filter Frequency - - - Y - -

627 Set Power Loss Action - - Y Y Y Y O-Enum

2 = Decel Regen (Y)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - Y - Y - Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

Chapter 3 Interpret the Attribute Tables

230 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only

765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - - Y - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - - Y -

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/Y)

129 = AC Injection Brake (FPVT/Y)

612

Set

Stopping Time Limit

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - - N N N

828

Set

Torque Lead Lag Filter Gain

554 Set Torque Loop Bandwidth - - N N N

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27

837 Set Torque Notch Filter High Frequency

Limit

- - - N N N V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - - N N N V26/V27

842

Get

Torque Notch Filter Magnitude Estimate

V26/V27

839

Set

Torque Notch Filter Tuning Threshold

V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 231

Access

Attribute

Conditional Implementation

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1 = Auto-Preset (N)

468 Set Velocity Integrator Preload - - - Y Y -

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

471 Set Velocity Lock Tolerance - - Y Y Y -

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - - Y Y -

470/327

Set

Velocity Threshold

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex 755-EENET-CM-S and

PowerFlex 755-EENET-CM-S1 drive module.

Access

Attribute

Conditional Implementation

367 Get Acceleration Fine Command - - - N N N

485

Set

Acceleration Limit

482 Get Acceleration Reference - - - N N N

481 Set Acceleration Trim - - - N N N

1376

Set

Actuator Diameter

DScale

1377 Set Actuator Diameter Unit - N N N N N DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit - N N N N N DScale

1373

Set

Actuator Type

DScale

836 Set Adaptive Tuning Configuration - - - N N N V26/V27

844

Get

Adaptive Tuning Gain Scaling Factor

V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N - Y Y Y Y

734

Set

Analog Output 1

735 Set Analog Output 2 N - Y Y Y Y

873

Set

Auto Sag Configuration

V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875 Set Auto Sag Slip Time Limit - - N N N N V26/V27

876

Set

Auto Sag Start

V26/27

PowerFlex 755 Low Power,

Non-Network Safety Drive

Module Optional Attributes

Chapter 3 Interpret the Attribute Tables

232 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos (N) Vxx

13 = Ext. Motor Test (N) Vxx

763 Get Axis Safety Faults - N N N N N V24/V25

760

Get

Axis Safety State

V24/V25

761

Get

Axis Safety Status

V24/V25

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27

592

Set

Brake Test Torque

V26/V27

638/262

Get

Bus Regulator Capacity

659 Get CIP Axis Alarms N Y Y Y Y Y

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

563 Set Commutation Polarity - - - N N N PM Motor only

562 Set Commutation Self-Sensing Current - - - N N N PM Motor only

O-Value = #

637

Get

Converter Capacity

605

Get

Converter Output Current

V26/V27

606

Get

Converter Output Power

V26/V27

840

Set

Current Disturbance

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

524

Get

Current Reference

553

Set

Current Vector Limit

870

Set

DC Injection Brake Current

872

Set

DC Injection Brake Time

486

Set

Deceleration Limit

730 Get Digital Inputs N - Y Y Y Y

731

Set

Digital Outputs

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421

Set

Feedback 1 Data Code

TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1= Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 233

Access

Attribute

Conditional Implementation

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401

Get

Feedback 1 Serial Number

1415

Set

Feedback 1 Startup Method

O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464 Set Feedback 2 Polarity - Y - Y Y Y

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1= Absolute (Y)

1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N) (V/N) (T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/Y)

708 Set Feedback Data Loss User Limit - N N N N N

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

44 Set Feedback Unit Ratio - - - Y N -

871

Set

Flux Braking Enable

Ind Motor only

528 Get Flux Current Error - - - N N N

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557 Set Flux Integral Time Constant - - - N N N

556

Set

Flux Loop Bandwidth

Chapter 3 Interpret the Attribute Tables

234 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - Y - Y -

381 Set Flying Start Method - - N - N - Vxx/Vxx

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499 Set Friction Compensation Static - - - N N N

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243 Get Guard Faults - - Y Y Y Y

980/242

Get

Guard Status

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699 Set Inverter Thermal Overload User Limit - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336 Set Linear Motor Mass - - N N N N Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration Estimate

806 Set Load Observer Bandwidth - - - Y Y N

805 Set Load Observer Configuration - - - Y Y N O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator Bandwidth - - - N N N

802

Get

Load Observer Torque Estimate

1370 Set Load Type - N N N N N DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 235

Access

Attribute

Conditional Implementation

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313

Set

Motor Data Source

O-Enum

1 = Database (Y)

2 = Drive NV (Y)

3 = Motor NV (N)

1323 Set Motor Integral Thermal Switch - - N N N N

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322 Set Motor Overload Limit - - Y Y Y Y

695

Set

Motor Overspeed User Limit

694

Set

Motor Phase Loss Limit

V26/V27

1317 Set Motor Polarity - - Y Y Y Y

1321

Set

Motor Rated Output Power

Y-PM

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521 Get Operative Current Limit - - N N N N

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

2310

Set

PM Motor Flux Saturation

PM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445 Set Position Error Tolerance Time - - - Y - -

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1 = Auto-Preset (N)

447

Set

Position Integrator Preload

781 Set Position Lead Lag Filter Bandwidth - - - Y - -

782

Set

Position Lead Lag Filter Gain

783 Set Position Notch Filter Frequency - - - Y - -

627 Set Power Loss Action - - Y Y Y Y O-Enum

2 = Decel Regen (Y)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - Y - Y - Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

Chapter 3 Interpret the Attribute Tables

236 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only

765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - - Y - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - - Y -

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/Y)

129 = AC Injection Brake (FPVT/Y)

612

Set

Stopping Time Limit

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - - N N N

828

Set

Torque Lead Lag Filter Gain

554 Set Torque Loop Bandwidth - - N N N

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27

837 Set Torque Notch Filter High Frequency

Limit

- - - N N N V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - - N N N V26/V27

842

Get

Torque Notch Filter Magnitude Estimate

V26/V27

839

Set

Torque Notch Filter Tuning Threshold

V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 237

Access

Attribute

Conditional Implementation

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1 = Auto-Preset (N)

468 Set Velocity Integrator Preload - - - Y Y -

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

471 Set Velocity Lock Tolerance - - Y Y Y -

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - - Y Y -

470/327

Set

Velocity Threshold

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex

755-HiPwr-EENET-CM-S and PowerFlex 755-HiPwr-EENET-CM-S1 drive

module.

Access

Attribute

Conditional Implementation

367 Get Acceleration Fine Command - - - N N N

485

Set

Acceleration Limit

482

Get

Acceleration Reference

481 Set Acceleration Trim - - - N N N

1376

Set

Actuator Diameter

DScale

1377 Set Actuator Diameter Unit - N N N N N DScale

1374

Set

Actuator Lead

DScale

1375 Set Actuator Lead Unit - N N N N N DScale

1373

Set

Actuator Type

DScale

836 Set Adaptive Tuning Configuration - - - N N N V26/V27

844

Get

Adaptive Tuning Gain Scaling Factor

V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N - Y Y Y Y

734

Set

Analog Output 1

735

Set

Analog Output 2

873 Set Auto Sag Configuration - - Y Y Y Y V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875 Set Auto Sag Slip Time Limit - - N N N N V26/V27

876

Set

Auto Sag Start

V26/27

PowerFlex 755 High Power,

Non-Network Safety Drive

Module Optional Attributes

Chapter 3 Interpret the Attribute Tables

238 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos (N) Vxx

13 = Ext. Motor Test (N) Vxx

763 Get Axis Safety Faults - N N N N N V24/V25

760

Get

Axis Safety State

V24/V25

761

Get

Axis Safety Status

V24/V25

825

Set

Backlash Compensation Window

593

Set

Brake Prove Ramp Time

V26/V27

594 Set Brake Slip Tolerance - - Y Y Y Y V26/V27

592

Set

Brake Test Torque

V26/V27

638/262 Get Bus Regulator Capacity N - N N N N

659

Get

CIP Axis Alarms

904

Get

CIP Axis Alarms - RA

617

Set

Coasting Time Limit

V26/V27

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing Current - - - N N N PM Motor only

O-Value = #

637

Get

Converter Capacity

605

Get

Converter Output Current

V26/V27

606 Get Converter Output Power N - N N N N V26/V27

840

Set

Current Disturbance

527

Get

Current Error

529 Get Current Feedback - - - Y Y Y

522

Get

Current Limit Source

524 Get Current Reference - - - N N N

553 Set Current Vector Limit - - Y N N N

870

Set

DC Injection Brake Current

872 Set DC Injection Brake Time - - Y Y Y Y

486

Set

Deceleration Limit

730

Get

Digital Inputs

731

Set

Digital Outputs

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405

Set

Feedback 1 Battery Absolute

1421 Set Feedback 1 Data Code - Y - Y Y Y TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1= Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 239

Access

Attribute

Conditional Implementation

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation

Frequency

- N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401

Get

Feedback 1 Serial Number

1415

Set

Feedback 1 Startup Method

O-Enum

1 = Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403

Set

Feedback 1 Velocity Filter Taps

1485 Set Feedback 2 Accel Filter Bandwidth - N - N N N

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471 Set Feedback 2 Data Code - Y - Y Y Y TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464 Set Feedback 2 Polarity - Y - Y Y Y

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation

Frequency

- N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472 Set Feedback 2 Resolver Transformer Ratio - N - N N N RS

1451

Get

Feedback 2 Serial Number

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1= Absolute (Y)

1484 Set Feedback 2 Velocity Filter Bandwidth - N - N N N

2453

Set

Feedback 2 Velocity Filter Taps

250 Set Feedback Commutation Aligned - - - Y Y Y O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N) (V/N) (T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/Y)

708 Set Feedback Data Loss User Limit - N N N N N

706

Set

Feedback Noise User Limit

707

Set

Feedback Signal Loss User Limit

44 Set Feedback Unit Ratio - - - Y N -

871

Set

Flux Braking Enable

Ind Motor only

528 Get Flux Current Error - - - N N N

530

Get

Flux Current Feedback

525

Get

Flux Current Reference

557 Set Flux Integral Time Constant - - - N N N

556

Set

Flux Loop Bandwidth

Chapter 3 Interpret the Attribute Tables

240 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

558 Set Flux Up Control - - Y Y Y Y Ind Motor only, O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380 Set Flying Start Enable - - Y - Y -

381 Set Flying Start Method - - N - N - Vxx/Vxx

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y)

129 = Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499 Set Friction Compensation Static - - - N N N

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243 Get Guard Faults - - Y Y Y Y

980/242

Get

Guard Status

1349 Set Induction Motor Magnetization

Reactance

- - N N N N Ind Motor only

1352 Set Induction Motor Rated Slip Speed - - Y Y Y N Ind Motor only

1351 Set Induction Motor Rotor Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage

Reactance

- - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699 Set Inverter Thermal Overload User Limit - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336 Set Linear Motor Mass - - N N N N Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801

Get

Load Observer Acceleration Estimate

806 Set Load Observer Bandwidth - - - Y Y N

805 Set Load Observer Configuration - - - Y Y N O-Enum

1 = Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807 Set Load Observer Integrator Bandwidth - - - N N N

802

Get

Load Observer Torque Estimate

1370 Set Load Type - N N N N N DScale

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616

Set

Mechanical Brake Engage Delay

615 Set Mechanical Brake Release Delay - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 241

Access

Attribute

Conditional Implementation

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313

Set

Motor Data Source

O-Enum

1 = Database (Y)

2 = Drive NV (Y)

3 = Motor NV (N)

1323 Set Motor Integral Thermal Switch - - N N N N

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322 Set Motor Overload Limit - - Y Y Y Y

695

Set

Motor Overspeed User Limit

694

Set

Motor Phase Loss Limit

V26/V27

1317 Set Motor Polarity - - Y Y Y Y

1321

Set

Motor Rated Output Power

Y-PM

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521 Get Operative Current Limit - - N N N N

600

Get

Output Frequency

508

Set

Overtorque Limit

509

Set

Overtorque Limit Time

2310

Set

PM Motor Flux Saturation

PM Motor only

1343

Set

PM Motor Force Constant

Rotary PM Motor only

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only

1340

Set

PM Motor Torque Constant

Rotary PM Motor only

445 Set Position Error Tolerance Time - - - Y - -

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1 = Auto-Preset (N)

447

Set

Position Integrator Preload

781 Set Position Lead Lag Filter Bandwidth - - - Y - -

782

Set

Position Lead Lag Filter Gain

783 Set Position Notch Filter Frequency - - - Y - -

627 Set Power Loss Action - - Y Y Y Y O-Enum

2 = Decel Regen (Y)

628

Set

Power Loss Threshold

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376

Set*

Ramp Acceleration

Derived

377

Set*

Ramp Deceleration

Derived

378

Set

Ramp Jerk Control

375

Set*

Ramp Velocity - Negative

Derived

374 Set* Ramp Velocity - Positive - - Y - Y - Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

Chapter 3 Interpret the Attribute Tables

242 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Attribute

Conditional Implementation

2311

Set

Rotary Motor Fan Cooling Speed

Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332 Set Rotary Motor Max Speed - - N N N N Rotary Motor only

765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/N)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - - Y - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833 Set SLAT Configuration - - - - Y -

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/Y)

129 = AC Injection Brake (FPVT/Y)

612

Set

Stopping Time Limit

496

Set

System Inertia

555

Set

Torque Integral Time Constant

827 Set Torque Lead Lag Filter Bandwidth - - - N N N

828

Set

Torque Lead Lag Filter Gain

554 Set Torque Loop Bandwidth - - N N N

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth

Estimate

- - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841 Get Torque Notch Filter Frequency Estimate - - - N N N V26/V27

837 Set Torque Notch Filter High Frequency

Limit

- - - N N N V26/V27

838 Set Torque Notch Filter Low Frequency

Limit

- - - N N N V26/V27

842

Get

Torque Notch Filter Magnitude Estimate

V26/V27

839

Set

Torque Notch Filter Tuning Threshold

V26/V27

591

Set

Torque Prove Current

V26/V27

506

Set

Torque Rate Limit

507/334

Set

Torque Threshold

1371

Set

Transmission Ratio Input

DScale

1372

Set

Transmission Ratio Output

DScale

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321

Set

Velocity Droop

465

Set

Velocity Error Tolerance

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 243

Access

Attribute

Conditional Implementation

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1 = Auto-Preset (N)

468 Set Velocity Integrator Preload - - - Y Y -

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

471 Set Velocity Lock Tolerance - - Y Y Y -

469

Set

Velocity Low Pass Filter Bandwidth

790 Set Velocity Negative Feedforward Gain - - - Y Y -

470/327

Set

Velocity Threshold

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex 755-EENET-CM-S3 and

PowerFlex 755-HiPwr-EENET-CM-S3 drive module.

Access

Rule

Attribute

Conditional Implementation

367

Get

Acceleration Fine Command

485 Set Acceleration Limit - - N N N N

482

Get

Acceleration Reference

481

Set

Acceleration Trim

836 Set Adaptive Tuning Configuration - - - N N N V26/V27

844

Get

Adaptive Tuning Gain Scaling Factor

V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N - Y Y Y Y

734

Set

Analog Output 1

735 Set Analog Output 2 N - Y Y Y Y

873 Set Auto Sag Configuration - - Y Y Y Y V26/V27

874

Set

Auto Sag Slip Increment

V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

876 Set Auto Sag Start - - Y Y Y Y V26/V27

PowerFlex 755 Low and

High Power, STO Only

Network Safety Drive

Module Optional Attributes

Chapter 3 Interpret the Attribute Tables

244 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos (N) Vxx

13 = Ext. Motor Test (N) V29

14 = Control Mode Change (N) V26/V27

15 = Feedback Mode Change (N) Vxx

16 = Pass Bus Status (N) V26/V27

17 = Pass Bus Unload (N) V26/V27

18 = Ext. Speed for SPM (N)) V29

19 = Ext. Speed for IPM (N) V29

986 Get Axis Safety Data A - - N N N N V31

987

Get

Axis Safety Data B

V31

763 Get Axis Safety Faults - Y Y Y Y Y V24

985

Get

Axis Safety Faults - RA

V31

760 Get Axis Safety State - Y Y Y Y Y V24

761

Get

Axis Safety Status

V24

984

Get

Axis Safety Status - RA

V31

825 Set Backlash Compensation Window - - N - -

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

2338 Get Bus Output Overvoltage Factory Limit 1 N - N N N N Vxx

2358

Get

Bus Output Overvoltage Factory Limit 2

Vxx

2339

Get

Bus Output Undervoltage Factory Limit 1

Vxx

2359

Get

Bus Output Undervoltage Factory Limit 2

Vxx

638/262

Get

Bus Regulator Capacity

659

Get

CIP Axis Alarms

904 Get CIP Axis Alarms - RA Y Y Y Y Y

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset Compensation - - - N N N PM Motor only, V29

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing Current - - N N N PM Motor only O-Value = #

618 Set Connection Loss Stopping Action - - N N N N O-Enum V31

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (F/V/N)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

637

Get

Converter Capacity

2337

Get

Converter Output Capacity 1

Vxx

2357

Get

Converter Output Capacity 2

Vxx

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 245

Access

Rule

Attribute

Conditional Implementation

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Current

V26/V27

2331

Get

Converter Output Power 1

Vxx

2351

Get

Converter Output Power 2

Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352 Get Converter Output Rated Current 2 N - N N N N Vxx

2333 Get Converter Output Rated Power 1 N - N N N N Vxx

2353

Get

Converter Output Rated Power 2

Vxx

840 Set Current Disturbance - - - N N N

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

(F/V29)

524

Get

Current Reference

553

Set

Current Vector Limit

2334

Get

DC Bus Output Voltage 1

Vxx

2354

Get

DC Bus Output Voltage 2

Vxx

742

Get

DC Bus Output Voltage Reference

Vxx

2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx

2356

Get

DC Bus Output Voltage Reference 2

Vxx

870

Set

DC Injection Brake Current

872 Set DC Injection Brake Time - - Y Y Y Y

486

Set

Deceleration Limit

730

Get

Digital Inputs

731 Set Digital Outputs N - N N N N

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405 Set Feedback 1 Battery Absolute - N - N N N TM

1421

Set

Feedback 1 Data Code

TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401 Get Feedback 1 Serial Number - N - N N N

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1= Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y

1485

Set

Feedback 2 Accel Filter Bandwidth

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

Chapter 3 Interpret the Attribute Tables

246 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472

Set

Feedback 2 Resolver Transformer Ratio

1451 Get Feedback 2 Serial Number - N - N N N

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453 Set Feedback 2 Velocity Filter Taps - N - N N N

250 Set Feedback Commutation Aligned - - Y Y Y O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N) (V/N) (T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/Y)

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707 Set Feedback Signal Loss User Limit - N N N N N

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530 Get Flux Current Feedback - - - Y Y Y

525 Get Flux Current Reference - - - N N N

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - - N N N

558 Set Flux Up Control - - Y Y Y Y Ind Motor only O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - N - N - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y) 129 =

Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243 Get Guard Faults - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 247

Access

Rule

Attribute

Conditional Implementation

980/242

Get

Guard Status

280

Set

Home Torque Threshold

Vxx

281

Set

Home Torque Time

Vxx

1349

Set

Induction Motor Magnetization Reactance

Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351

Set

Induction Motor Rotor Leakage Reactance

Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699 Set Inverter Thermal Overload User Limit - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration Estimate - - - Y Y N

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - Y Y N O-Enum

1= Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807

Set

Load Observer Integrator Bandwidth

802 Get Load Observer Torque Estimate - - Y Y N

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616 Set Mechanical Brake Engage Delay - - Y Y Y Y

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (Y)

3 = Motor NV (N)

1323 Set Motor Integral Thermal Switch - - N N N N

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322

Set

Motor Overload Limit

695 Set Motor Overspeed User Limit - - Y Y Y Y

694

Set

Motor Phase Loss Limit

V26/v27

1317 Set Motor Polarity - - Y Y Y Y

1321

Set

Motor Rated Output Power

Y-PM

Chapter 3 Interpret the Attribute Tables

248 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521

Get

Operative Current Limit

(F/V29)

600

Get

Output Frequency

508

Set

Overtorque Limit

509 Set Overtorque Limit Time - - Y Y Y Y

1355 Set PM Motor Extended Speed Permissive - - - N N N V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29

1358

Set

PM Motor Linear Bus Overvoltage Speed

V29

1359

Set

PM Motor Linear Max Extended Speed

V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only

1356

Set

PM Motor Rotary Bus Overvoltage Speed

V29

1357

Set

PM Motor Rotary Max Extended Speed

V29

1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter Bandwidth

782 Set Position Lead Lag Filter Gain - - - Y - -

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - - Y Y Y Y O-Enum

2 = Decel Regen (Y)

628 Set Power Loss Threshold N - Y Y Y Y

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376 Set* Ramp Acceleration - - Y - Y - Derived

377

Set*

Ramp Deceleration

Derived

378 Set Ramp Jerk Control - - Y - Y -

375

Set*

Ramp Velocity - Negative

Derived

374

Set*

Ramp Velocity - Positive

Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

766 Set Safe Stopping Action - - N N N N O-Enum V31

1 = Current Decel (F/O)

2 = Ramped Decel (FV/O)

767 Set Safe Stopping Action Source - - N N N N O-Enum V31

1 = Running Controller (O)

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 249

Access

Rule

Attribute

Conditional Implementation

765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/O)

759 Set Safe Torque Off Action Source - - N N N N O-Enum V31

1 = Running Controller (O)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - - Y - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/Y)

129 = AC Injection Brake (FPVT/Y)

612

Set

Stopping Time Limit

(F/V26/V27)

496 Set System Inertia - - - R R N

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828 Set Torque Lead Lag Filter Gain - - - N N N

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841

Get

Torque Notch Filter Frequency Estimate

V26/V27

837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27

838

Set

Torque Notch Filter Low Frequency Limit

V26/V27

842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27

839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27

591 Set Torque Prove Current - - N N N N V26/V27

506

Set

Torque Rate Limit

507/334 Set Torque Threshold - - - N N N

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321 Set Velocity Droop - - Y Y Y -

465 Set Velocity Error Tolerance - - - N N -

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1: Auto-Preset (N)

Chapter 3 Interpret the Attribute Tables

250 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458

Get

Velocity Limit Source

V29

471

Set

Velocity Lock Tolerance

469

Set

Velocity Low Pass Filter Bandwidth

790

Set

Velocity Negative Feedforward Gain

470/327 Set Velocity Threshold N Y Y Y N

589 Set Vertical Load Control - - N N N - V31

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The following table identifies the optional attributes and corresponding

control mode functionality supported by a PowerFlex 755-EENET-CM-S4 and

PowerFlex 755-HiPwr-EENET-CM-S4 drive module.

Access

Rule

Attribute

Conditional Implementation

367

Get

Acceleration Fine Command

485

Set

Acceleration Limit

482 Get Acceleration Reference - - - N N N

481

Set

Acceleration Trim

836 Set Adaptive Tuning Configuration - - - N N N V26/V27

844 Get Adaptive Tuning Gain Scaling Factor - - - N N N V26/V27

732/267

Get

Analog Input 1

733/268 Get Analog Input 2 N - Y Y Y Y

734

Set

Analog Output 1

735 Set Analog Output 2 N - Y Y Y Y

873

Set

Auto Sag Configuration

V26/V27

874 Set Auto Sag Slip Increment - - Y Y Y Y V26/V27

875

Set

Auto Sag Slip Time Limit

V26/V27

876

Set

Auto Sag Start

V26/V27

PowerFlex 755 Low and

High Power, Advanced

Safety Network Safety

Drive Module Optional

Attributes

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 251

Access

Rule

Attribute

Conditional Implementation

19 Set Axis Features R R R R R R O-Bits

0 = Fine Interpolation (Y)

1 = Registration Auto-rearm (Y)

2 = Alarm Log (Y)

5 = Hookup Test (Y)

6 = Commutation Test (Y)

7 = Motor Test (Y)

8 = Inertia Test (Y)

9 = Sensorless Control (Y)

10 = Drive Scaling (N) Vxx

11 = Ext. Event Block (N) Vxx

12 = Integer Cmd. Pos (N) Vxx

13 = Ext. Motor Test (N) V29

14 = Control Mode Change (N) V26/V27

15 = Feedback Mode Change (N) Vxx

16 = Pass Bus Status (N) V26/V27

17 = Pass Bus Unload (N) V26/V27

18 = Ext. Speed for SPM (N)) V29

19 = Ext. Speed for IPM (N) V29

986 Get Axis Safety Data A - - N N N N V31

987

Get

Axis Safety Data B

V31

763 Get Axis Safety Faults - Y Y Y Y Y V24

985

Get

Axis Safety Faults - RA

V31

760 Get Axis Safety State - Y Y Y Y Y V24

761

Get

Axis Safety Status

V24

984

Get

Axis Safety Status - RA

V31

825 Set Backlash Compensation Window - - N - -

593

Set

Brake Prove Ramp Time

V26/V27

594

Set

Brake Slip Tolerance

V26/V27

592

Set

Brake Test Torque

V26/V27

2338 Get Bus Output Overvoltage Factory Limit 1 N - N N N N Vxx

2358

Get

Bus Output Overvoltage Factory Limit 2

Vxx

2339

Get

Bus Output Undervoltage Factory Limit 1

Vxx

2359

Get

Bus Output Undervoltage Factory Limit 2

Vxx

638/262

Get

Bus Regulator Capacity

659

Get

CIP Axis Alarms

904 Get CIP Axis Alarms - RA Y Y Y Y Y

617

Set

Coasting Time Limit

V26/V27

850 Set Commutation Offset Compensation - - - N N N PM Motor only, V29

563

Set

Commutation Polarity

PM Motor only

562 Set Commutation Self-Sensing Current - - N N N PM Motor only O-Value = #

618 Set Connection Loss Stopping Action - - N N N N O-Enum V31

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (F/V/N)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

637

Get

Converter Capacity

2337

Get

Converter Output Capacity 1

Vxx

2357

Get

Converter Output Capacity 2

Vxx

Chapter 3 Interpret the Attribute Tables

252 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

605

Get

Converter Output Current

V26/V27

2330

Get

Converter Output Current 1

Vxx

2350

Get

Converter Output Current 2

Vxx

606

Get

Converter Output Current

V26/V27

2331

Get

Converter Output Power 1

Vxx

2351

Get

Converter Output Power 2

Vxx

2332

Get

Converter Output Rated Current 1

Vxx

2352 Get Converter Output Rated Current 2 N - N N N N Vxx

2333 Get Converter Output Rated Power 1 N - N N N N Vxx

2353

Get

Converter Output Rated Power 2

Vxx

840 Set Current Disturbance - - - N N N

527

Get

Current Error

529

Get

Current Feedback

522

Get

Current Limit Source

F/V29

524

Get

Current Reference

553

Set

Current Vector Limit

2334

Get

DC Bus Output Voltage 1

Vxx

2354

Get

DC Bus Output Voltage 2

Vxx

742

Get

DC Bus Output Voltage Reference

Vxx

2336 Get DC Bus Output Voltage Reference 1 N - N N N N Vxx

2356

Get

DC Bus Output Voltage Reference 2

Vxx

870

Set

DC Injection Brake Current

872 Set DC Injection Brake Time - - Y Y Y Y

486

Set

Deceleration Limit

730

Get

Digital Inputs

731 Set Digital Outputs N - N N N N

1435

Set

Feedback 1 Accel Filter Bandwidth

2404

Set

Feedback 1 Accel Filter Taps

2405 Set Feedback 1 Battery Absolute - N - N N N TM

1421

Set

Feedback 1 Data Code

TP,SS

1420

Set

Feedback 1 Data Length

TP,SS

2400 Set Feedback 1 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1414

Set

Feedback 1 Polarity

1425

Set

Feedback 1 Resolver Cable Balance

1424 Set Feedback 1 Resolver Excitation Frequency - N - N N N RS

1423

Set

Feedback 1 Resolver Excitation Voltage

1422

Set

Feedback 1 Resolver Transformer Ratio

1401 Get Feedback 1 Serial Number - N - N N N

1415 Set Feedback 1 Startup Method - R - R R R O-Enum

1= Absolute (Y)

1434

Set

Feedback 1 Velocity Filter Bandwidth

2403 Set Feedback 1 Velocity Filter Taps - Y - Y Y Y

1485

Set

Feedback 2 Accel Filter Bandwidth

2454

Set

Feedback 2 Accel Filter Taps

2455

Set

Feedback 2 Battery Absolute

1471

Set

Feedback 2 Data Code

TP,SS

1470

Set

Feedback 2 Data Length

TP,SS

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 253

Access

Rule

Attribute

Conditional Implementation

2450 Set Feedback 2 Loss Action - N - N N N O-Enum

1 = Switch to Sensorless Fdbk (N)

2 = Switch to Redundant Fdbk (N)

1464

Set

Feedback 2 Polarity

1475

Set

Feedback 2 Resolver Cable Balance

1474 Set Feedback 2 Resolver Excitation Frequency - N - N N N RS

1473

Set

Feedback 2 Resolver Excitation Voltage

1472

Set

Feedback 2 Resolver Transformer Ratio

1451 Get Feedback 2 Serial Number - N - N N N

1465 Set Feedback 2 Startup Method - R - R R R O-Enum

1 = Absolute (Y)

1484

Set

Feedback 2 Velocity Filter Bandwidth

2453 Set Feedback 2 Velocity Filter Taps - N - N N N

250 Set Feedback Commutation Aligned - - Y Y Y O-Enum

2 = Motor Offset (N)

3 = Self-Sense (Y)

4 = Database Offset (N) Vxx

31 Set* Feedback Configuration R R R R R R O-Enum

0 = No Feedback (V/Y)(T/N)

3 = Load Feedback (P/N) (V/N) (T/N)

4 = Dual Feedback (P/Y)

8 = Dual Integrator Feedback (P/Y)

708

Set

Feedback Data Loss User Limit

706

Set

Feedback Noise User Limit

707 Set Feedback Signal Loss User Limit - N N N N N

Set

Feedback Unit Ratio

871

Set

Flux Braking Enable

Ind Motor only

528

Get

Flux Current Error

530 Get Flux Current Feedback - - - Y Y Y

525 Get Flux Current Reference - - - N N N

557

Set

Flux Integral Time Constant

556 Set Flux Loop Bandwidth - - - N N N

558 Set Flux Up Control - - Y Y Y Y Ind Motor only O-Enum

1 = Manual Delay (Y)

2 = Automatic Delay (Y)

559

Set

Flux Up Time

Ind Motor only

380

Set

Flying Start Enable

381 Set Flying Start Method - - N - N - O-Enum: V29

1 = Counter EMF (N)

2 = Sweep Frequency (N)

570 Set Frequency Control Method - - R - - - O-Enum

128 = Fan/Pump Volts/Hertz (Y) 129 =

Sensorless Vector (Y)

130 = Sensorless Vector Economy (Y)

498

Set

Friction Compensation Sliding

499

Set

Friction Compensation Static

500

Set

Friction Compensation Viscous

826/421

Set

Friction Compensation Window

981/243 Get Guard Faults - - Y Y Y Y

Chapter 3 Interpret the Attribute Tables

254 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

980/242

Get

Guard Status

280

Set

Home Torque Threshold

Vxx

281

Set

Home Torque Time

Vxx

1349

Set

Induction Motor Magnetization Reactance

Ind Motor only

1352

Set

Induction Motor Rated Slip Speed

Ind Motor only

1351

Set

Induction Motor Rotor Leakage Reactance

Ind Motor only, V26/V27

1350

Set

Induction Motor Rotor Resistance

Ind Motor only

1348 Set Induction Motor Stator Leakage Reactance - - Y Y Y Y Ind Motor only, V26/V27

647 Set Inverter Overload Action - - Y Y Y Y O-Enum

1 = Current Foldback (Y)

128 = Reduce PWM Rate (Y)

129 = PWM Foldback (Y)

699 Set Inverter Thermal Overload User Limit - - N N N N

1338

Set

Linear Motor Damping Coefficient

Linear Motor only

2313

Set

Linear Motor Integral Limit Switch

Linear Motor only

1336

Set

Linear Motor Mass

Linear Motor only

1337

Set

Linear Motor Max Speed

Linear Motor only

801 Get Load Observer Acceleration Estimate - - - Y Y N

806

Set

Load Observer Bandwidth

805 Set Load Observer Configuration - - - Y Y N O-Enum

1= Load Observer Only (Y)

2 = Load Observer with Velocity Estimate (N)

3 = Velocity Estimate Only (N)

4 = Acceleration Feedback (Y)

809

Set

Load Observer Feedback Gain

807

Set

Load Observer Integrator Bandwidth

802 Get Load Observer Torque Estimate - - Y Y N

750 Set Local Control N N N N N N O-Enum

1 = Conditionally Allowed (N)

2 = Allowed (N)

614

Set

Mechanical Brake Control

616 Set Mechanical Brake Engage Delay - - Y Y Y Y

615

Set

Mechanical Brake Release Delay

45 Set Motion Scaling Configuration - R R R R R O-Enum

1 = Drive Scaling (N)

1310/251

Set

Motor Catalog Number

Dr NV

1313 Set Motor Data Source - - R R R R O-Enum

1 = Database (Y)

2 = Drive NV (Y)

3 = Motor NV (N)

1323 Set Motor Integral Thermal Switch - - N N N N

1324

Set

Motor Max Winding Temperature

646 Set Motor Overload Action - - N N N N O-Enum

1 = Current Foldback (N)

1322

Set

Motor Overload Limit

695 Set Motor Overspeed User Limit - - Y Y Y Y

694

Set

Motor Phase Loss Limit

V26/v27

1317 Set Motor Polarity - - Y Y Y Y

1321

Set

Motor Rated Output Power

Y-PM

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 255

Access

Rule

Attribute

Conditional Implementation

1320

Set

Motor Rated Peak Current

N-IM

697

Set

Motor Thermal Overload User Limit

1325

Set

Motor Winding to Ambient Capacitance

1326

Set

Motor Winding to Ambient Resistance

521

Get

Operative Current Limit

(F/V29)

600

Get

Output Frequency

508

Set

Overtorque Limit

509 Set Overtorque Limit Time - - Y Y Y Y

1355 Set PM Motor Extended Speed Permissive - - - N N N V29

2310

Set

PM Motor Flux Saturation

SPM Motor only

1343 Set PM Motor Force Constant - - N N N N Rotary PM Motor only

2315

Set

PM Motor Ld Flux Saturation

IPM Motor only, V29

1358

Set

PM Motor Linear Bus Overvoltage Speed

V29

1359

Set

PM Motor Linear Max Extended Speed

V29

2314

Set

PM Motor Lq Flux Saturation

IPM Motor only, V29

1342

Set

PM Motor Rated Force

Rotary PM Motor only

1339 Set PM Motor Rated Torque - - N N N N Rotary PM Motor only

1356

Set

PM Motor Rotary Bus Overvoltage Speed

V29

1357

Set

PM Motor Rotary Max Extended Speed

V29

1340 Set PM Motor Torque Constant - - N N N N Rotary PM Motor only

445

Set

Position Error Tolerance Time

365

Get

Position Fine Command

446 Set Position Integrator Control - - - R - - O-Bits

1: Auto-Preset (N)

447

Set

Position Integrator Preload

781

Set

Position Lead Lag Filter Bandwidth

782 Set Position Lead Lag Filter Gain - - - Y - -

783

Set

Position Notch Filter Frequency

627 Set Power Loss Action - - Y Y Y Y O-Enum

2 = Decel Regen (Y)

628 Set Power Loss Threshold N - Y Y Y Y

630

Set

Power Loss Time

590

Set

Proving Configuration

V26/V27

376 Set* Ramp Acceleration - - Y - Y - Derived

377

Set*

Ramp Deceleration

Derived

378 Set Ramp Jerk Control - - Y - Y -

375

Set*

Ramp Velocity - Negative

Derived

374

Set*

Ramp Velocity - Positive

Derived

613/354

Set

Resistive Brake Contact Delay

PM Motor only

1333

Set

Rotary Motor Damping Coefficient

Rotary Motor only

2312 Set Rotary Motor Fan Cooling Derating - - N N N N Rotary Motor only

2311 Set Rotary Motor Fan Cooling Speed - - N N N N Rotary Motor only

1330

Set

Rotary Motor Inertia

Rotary Motor only

1332

Set

Rotary Motor Max Speed

Rotary Motor only

766 Set Safe Stopping Action - - N N N N O-Enum V31

1 = Current Decel (F/O)

2 = Ramped Decel (FV/O)

767 Set Safe Stopping Action Source - - N N N N O-Enum V31

1 = Running Controller (O)

Chapter 3 Interpret the Attribute Tables

256 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Access

Rule

Attribute

Conditional Implementation

765 Set Safe Torque Off Action - - N N N N O-Enum V26/V27

1 = Current Decel Disable (F/N)

2 = Ramped Decel Disable (FV/N)

128 = DC Injection Brake (FPVT/N)

129 = AC Injection Brake (FPVT/O)

759 Set Safe Torque Off Action Source - - N N N N O-Enum V31

1 = Running Controller (O)

629 Set Shutdown Action N - N N N N O-Enum

1 = Drop DC Bus (FPVT/N)

370

Set

Skip Speed 1

371 Set Skip Speed 2 - - Y - - -

372

Set

Skip Speed 3

373

Set

Skip Speed Band

833

Set

SLAT Configuration

834

Set

SLAT Set Point

835

Set

SLAT Time Delay

610 Set Stopping Action - - R R R R O-Enum

1 = Current Decel Disable (F/N) V26/V27

2 = Ramped Decel Disable (FV/Y)

3 = Current Decel Hold (PV/N)

4 = Ramped Decel Hold (V/N)

128 = DC Injection Brake (FPVT/Y)

129 = AC Injection Brake (FPVT/Y)

612

Set

Stopping Time Limit

(F/V26/V27)

496 Set System Inertia - - - R R N

555

Set

Torque Integral Time Constant

827

Set

Torque Lead Lag Filter Bandwidth

828 Set Torque Lead Lag Filter Gain - - - N N N

554

Set

Torque Loop Bandwidth

502

Set

Torque Low Pass Filter Bandwidth

843 Get Torque Low Pass Filter Bandwidth Estimate - - - N N N V26/V27

503

Set

Torque Notch Filter Frequency

841

Get

Torque Notch Filter Frequency Estimate

V26/V27

837 Set Torque Notch Filter High Frequency Limit - - - N N N V26/V27

838

Set

Torque Notch Filter Low Frequency Limit

V26/V27

842 Get Torque Notch Filter Magnitude Estimate - - - N N N V26/V27

839 Set Torque Notch Filter Tuning Threshold - - - N N N V26/V27

591 Set Torque Prove Current - - N N N N V26/V27

506

Set

Torque Rate Limit

507/334 Set Torque Threshold - - - N N N

510

Set

Undertorque Limit

511

Set

Undertorque Limit Time

464/321 Set Velocity Droop - - Y Y Y -

465 Set Velocity Error Tolerance - - - N N -

466

Set

Velocity Error Tolerance Time

366

Get

Velocity Fine Command

467 Set Velocity Integrator Control - - - R R - O-Bits

1: Auto-Preset (N)

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 257

Access

Rule

Attribute

Conditional Implementation

468

Set

Velocity Integrator Preload

474/326

Set

Velocity Limit - Negative

473/325

Set

Velocity Limit - Positive

458

Get

Velocity Limit Source

V29

471

Set

Velocity Lock Tolerance

469

Set

Velocity Low Pass Filter Bandwidth

790

Set

Velocity Negative Feedforward Gain

470/327 Set Velocity Threshold N Y Y Y N

589 Set Vertical Load Control - - N N N - V31

608

Set

Zero Speed

V26/V27

609 Set Zero Speed Time - - Y Y Y Y V26/V27

The following table lists the attributes that are available to a specific drive via

messaging. The P### references in the Conditional Implementation column

refer to the related PowerFlex drive parameter.

Attribute

K350

K5500

K6500

PF755

C/D

Conditional Implementation

480

Acceleration Command

MSG Access Only

1404

+(n-1)

*50

Acceleration Feedback (General

Feedback Signal)

X X X R R R R E, MSG Access Only

1454 Acceleration Feedback 2 X R R R R E, MSG Access Only

639

Ambient Temperature

MSG Access Only

688 Bus Overvoltage Factory Limit X O O O O MSG Access Only

686 Bus Regulator Overtemperature

Factory Limit

O O O O MSG Access Only

687 Bus Regulator Thermal Overload

Factory Limit

X O O O O MSG Access Only

880

Bus Regulator Reference

MSG Access Only, P375

689 Bus Undervoltage Factory Limit O O O O MSG Access Only

756 CIP APR Faults C C C C Yes R-Co CScale; O-Dr DScale; E, MSG

Access Only

757 CIP APR Faults - Mfg C C C C Yes Vxx; R-Co CScale; O-Dr DScale; E, MSG

Access Only

905 CIP APR Faults - RA C C C C Yes R-Co CScale; O-Dr DScale; E, MSG

Access Only

660

CIP Axis Alarms - Mfg

Vxx; MSG Access Only

673

CIP Axis Exception Action - Mfg

MSG Access Only

655

CIP Axis Exceptions

MSG Access Only

656 CIP Axis Exceptions - Mfg X X X R R R R R Vxx; MSG Access Only

902

CIP Axis Exceptions - RA

Yes

MSG Access Only

658

CIP Axis Faults - Mfg

Vxx; MSG Access Only

654

CIP Axis I/O Status - Mfg

Vxx; MSG Access Only

652

CIP Axis Status - Mfg

Vxx; MSG Access Only

675 CIP Initialization Faults - Mfg X X X R R R R R Yes Vxx; MSG Access Only

677

CIP Start Inhibits - Mfg

Vxx; MSG Access Only

832

Cogging Compensation Table

MSG Access Only

768 Command Notch Filter Frequency X O O MSG Access Only

MSG Instruction Access Only

Attributes

Chapter 3 Interpret the Attribute Tables

258 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

564 Commutation Alignment X X O O O E; PM Motor only, O- Enum, MSG

Access Only

900 Control Module Overtemperature

Factory Limit

O O O O O MSG Access Only

710 Control Power-up Time O O O O MSG Access Only

693 Converter Ground Current Factory

Limit

O O O O MSG Access Only

684 Converter Overtemperature Factory

Limit

O O O O MSG Access Only

901 Converter Precharge Overload Factory

Limit

O O O O MSG Access Only

723 Converter Rated Output Current X X - O O O O Yes MSG Access Only

724

Converter Rated Output Power

Yes

MSG Access Only

685 Converter Thermal Overload Factory

Limit

O O O O MSG Access Only

715 Cumulative Control Power Cycles O O O O MSG Access Only

712

Cumulative Energy Usage

MSG Access Only

714

Cumulative Main Power Cycles

MSG Access Only

713

Cumulative Motor Revs

MSG Access Only

711

Cumulative Run Time

MSG Access Only

621

DC Bus Voltage - Nominal

MSG Access Only, P12

736 Drive Enable Input Checking X O O O O MSG Access Only

725

Drive Power Structure Axis ID

MSG Access Only

1400

Feedback 1 Catalog Number

E, MSG Access Only

1427

Feedback 1 LDT Recirculations

E, LT, MSG Access Only

1426

Feedback 1 LDT Type

E, LT, MSG Access Only

1410 Feedback 1 Resolution Unit O O O O E, MSG Access Only

643

Feedback 1 Temperature

E, MSG Access Only

1450

Feedback 2 Catalog Number

E, MSG Access Only

1477 Feedback 2 LDT Recirculations R R R R E, LT, MSG Access Only

1476

Feedback 2 LDT Type

E, LT, MSG Access Only

1460

Feedback 2 Resolution Unit

E, MSG Access Only

644 Feedback 2 Temperature X O O O O O E, MSG Access Only

2432

Feedback 2U Acceleration

E, MSG Access Only

2430

Feedback 2U Position

E, MSG Access Only

2431 Feedback 2U Velocity O O O O E, MSG Access Only

692

Feedback Data Loss Factory Limit

E, MSG Access Only

43 Feedback Master Select O Vxx, MSG Access Only

1427

+(n-1)

*50

Feedback n LDT Recirculations R - R R R E, LT, MSG Access Only

1426

+(n-1)

*50

Feedback n LDT Type R - R R R E, LT, MSG Access Only

2402

(n-1)*

Feedback n Scaling Ratio O - O O O E, MSG Access Only

1401 +

(n-1)*

Feedback n Serial Number X X X O - O O O E, MSG Access Only

690

Feedback Noise Factory Limit

MSG Access Only

Chapter 3 Interpret the Attribute Tables

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 259

2385

(n-1)*

Feedback nS Acceleration O - O O O Yes E, MSG Access Only

2383

(n-1)*

Feedback nS Position O - O O O Yes E, MSG Access Only

2384

(n-1)*

Feedback nS Velocity O - O O O Yes E, MSG Access Only

2382

(n-1)*

Feedback nU Acceleration O - O O O Yes E, MSG Access Only

2380

(n-1)*

Feedback nU Position O - O O O Yes E, MSG Access Only

2381 +

(n-1)*

Feedback nU Velocity O - O O O Yes E, MSG Access Only

691

Feedback Signal Loss Factory Limit

E, MSG Access Only

532

Flux Decoupling

MSG Access Only

534 Flux Voltage Output X X O O O MSG Access Only

737

Hardware Overtravel Input Checking

MSG Access Only

829

Inertia Observer Configuration

MSG Access Only

831

Inertia Observer Filter Bandwidth

MSG Access Only

640

Inverter Heatsink Temperature

MSG Access Only

645

Inverter Overload Factory Limit

MSG Access Only

682 Inverter Overtemperature Factory

Limit

X O O O O MSG Access Only

698

Inverter Overtemperature User Limit

MSG Access Only

721

Inverter Rated Output Current

Yes

MSG Access Only, P21

722 Inverter Rated Output Power X X X X - R R R R Yes MSG Access Only, P22

720

Inverter Rated Output Voltage

Yes

MSG Access Only, P20

641 Inverter Temperature X X O O O O MSG Access Only, P942

683 Inverter Thermal Overload Factory

Limit

O O O O MSG Access Only

679

Linear Motor Overspeed Factory Limit

Yes

MSG Access Only

1312

Motor Date Code

MSG Access Only

680 Motor Overtemperature Factory Limit O O O O MSG Access Only

696

Motor Overtemperature User Limit

MSG Access Only

1311 Motor Serial Number X X - O O O O Yes MSG Access Only

642

Motor Temperature

MSG Access Only

681

Motor Thermal Overload Factory Limit

MSG Access Only

1354 PM Motor Ld Inductance X MSG Access Only

1353

PM Motor Lq Inductance

MSG Access Only

430

Position Command

MSG Access Only, P759

434

Position Feedback (Position Loop

Attributes)

Yes

E, MSG Access Only, P847

780

Position Integral Feedback

MSG Access Only, P837

Chapter 3 Interpret the Attribute Tables

260 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

604 PWM Frequency X O O O O MSG Access Only

678

Rotary Motor Overspeed Factory Limit

Yes

MSG Access Only

490

Torque Command

Yes

MSG Access Only, P761

531 Torque Decoupling O O O MSG Access Only

533

Torque Voltage Output

MSG Access Only

821

Total Inertia Estimate

MSG Access Only, P708

538 U Current Feedback X X O O O MSG Access Only

541

U Current Offsets

MSG Access Only

535

U Voltage Output

MSG Access Only

539 V Current Feedback X X O O O MSG Access Only

542

V Current Offsets

MSG Access Only

536

V Voltage Output

MSG Access Only

450 Velocity Command X X X X R R R MSG Access Only, P760

1403

Velocity Feedback 1

E, MSG Access Only, P131

1453

Velocity Feedback 2

E, MSG Access Only, P131

1403

+(n-1)

*50

Velocity Feedback n

(General Feedback Signal Attributes)

X X X X R - R R R Yes E, MSG Access Only, P131

540

W Current Feedback

MSG Access Only

543

W Current Offsets

MSG Access Only

537 W Voltage Output X X O O O MSG Access Only

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 261

Chapter 4

CIP Axis Attributes

The CIP Axis Attributes let you configure motion-control system devices that

include feedback devices and drive devices. For drive devices, the CIP Axis

Attributes cover a wide range of drive types from simple variable frequency

(V/Hz) drives, to sophisticated position-control servo drives. Many

commercial drive products have axes that can be configured to operate in any

one of these different motion-control modes, depending on the specific

application requirements.

The CIP Axis Attributes are organized to address the broad range of

functionality. Because of the large number of attributes, they are organized by

functional category.

Motion Control Attributes

Acceleration Control Attributes on page 264 Frequency Control Configuration Attributes on

page 301

Acceleration Control Configuration Attributes on page 265 Position Loop Attributes on page 309

Command Generator Configuration Attributes on page

268

Position Loop Configuration Attributes on page

312

Command Generator Signal Attributes on page 272 Torque/Force Control Configuration Attributes

on page 316

Command Reference Generation Attributes on page 268 Torque/Force Control Signal Attributes on page

349

Current Control Attributes on page 291 Velocity Loop Configuration Attributes on page

351

Current Control Configuration Attributes on page 291

Velocity Loop Signal Attributes on page 358

Frequency Control Signal Attribute on page 308

Data Attributes

Axis Info Attributes on page 363

CIP Axis Status Attributes on page 373

Axis Statistical Attributes on page 372

Event Capture Attributes on page 391

Drive Attributes

Drive General Purpose I/O Attributes on page 397 Power and Thermal Management Configuration

Attributes on page 406

Drive Output Attributes on page 395 Power and Thermal Management Status

Attributes on page 407

Chapter 4 CIP Axis Attributes

262 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Device Commissioning and Tuning Attributes

Autotune Configuration Attributes on page 421 Inertia Test Configuration Attributes on page 433

Hookup Test Configuration Attributes on page 429

Inertia Test Result Attributes on page 436

Hookup Test Result Attributes on page 430

Motor Test Result Attributes on page 440

Faults and Alarms Attributes

APR Fault Attribute on page 447 Exception User Limit Configuration Attributes on

page 474

Axis Exception Action Configuration Attributes on page

450

Exception, Fault, and Alarm Attributes on page

481

Configuration Fault Attributes on page 459 Initialization Faults Attributes on page 486

Exception Factory Limit Info Attributes on page 466 Module/Node Fault and Alarm Attributes on page

491

Feedback Attributes

Feedback Attributes on page 506

General Feedback Info Attributes on page 524

Feedback Configuration Attributes on page 508 General Feedback Signal Attributes on page 524

Motion Control Attributes

Motion Control Configuration Attributes on page 528 Motion Dynamic Configuration Attributes on

page 575

Motion Control Interface Attributes on page 537 Motion Homing Configuration Attributes on page

578

Motion Control Signal Attributes on page 546 Motion Planner Configuration Attributes on page

590

Motion Control Status Attributes on page 558 Motion Planner Output Attributes on page 597

Motion Database Storage Attributes on page 569 Motion Scaling Attributes on page 598

Motor Attributes

General Linear Motor Attributes on page 613 Interior Permanent Magnet Motor Attributes on

page 633

General Motor Attributes on page 615 Linear PM Motor Attributes on page 630

General Permanent Magnet Motor Attributes on page 622 Load Transmission and Actuator Attributes on

page 636

General Rotary Motor Attributes on page 625 Rotary PM Motor Attributes on page 638

Induction Motor Attributes on page 628

Safety Attributes

Axis Safety Status Attributes on page 641 Guard Safety Status Attributes on page 660

Guard Safety Attributes on page 659

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 263

Stopping and Braking Attributes

Start Inhibit Attributes on page 695 Stopping and Braking Attributes on page 674

DC Bus Condition Attributes

DC Bus Condition Attributes on page 700

Converter AC Line Input Attributes

Converter AC Line Monitoring Attributes on page 712 Converter AC Line Configuration Attributes on

page 719

Converter AC Line Source Configuration Attributes on

page 722

AC Line Condition Attributes on page 724

Converter Control Attributes

Converter Types on page 730 Converter Control Mode Attributes on page 731

Converter Bus Voltage Control Configuration Attributes on

page 735

Converter Bus Voltage Control Signal Attributes

on page 740

Converter Current Reference Configuration Attributes on

page 743

Converter Current Reference Signal Attributes on

page 745

Converter Current Control Configuration Attributes on

page 746

Converter Current Control Signal Attributes on

page 748

Converter Reactive Power Control Attributes on page 755

Converter Output Attributes on page 756

Test Mode Attributes

Test Mode Configuration Attributes on page 729

General attribute characteristics

Keep the following items in mind while reviewing the attribute tables:

Item

Description

SSV access rule If an attribute is marked with an SSV access rule, it is implied that the

attribute also supports GSV access.

Vendor-specific bits Vendor-specific bits, and enumerations provide space for drive vendors to

provide additional product features.

For Logix Designer software version 18, all defined vendor-specific bits are

Rockwell Automation specific.

Optional attributes Unless otherwise specified, all optional attributes default to 0.

Attribute name The tag and GSV/SSV names for each of these attributes should be the

same as the attribute name but with spaces removed.

For example, Inhibit Axis would be InhibitAxis.

Chapter 4 CIP Axis Attributes

264 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

See also

Standard Exceptions on page 757

Interpret the Attribute Tables on page 103

The following attribute tables contain control mode related attributes

associated with a Motion Control Axis Object instance.

These are the acceleration-related attributes associated with a Motion Control

Axis.

Acceleration Command

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get T REAL 0 -max

accel

max

accel

Accel Control Units/Sec

Command acceleration output from Fine Command Generator (if active) into

acceleration loop when configured for acceleration control.

Acceleration Trim

Usage Access T Data

Type

Default Min Max Semantics of Values

Optional - C

Set

REAL

-max

accel

max

accel

Accel Control Units/Sec

Additional acceleration command added to the acceleration loop summing

junction.

Acceleration Reference

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get T REAL - - - Accel Control Units/Sec

Command acceleration reference into acceleration loop summing junction.

Acceleration Feedback

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Required - E Get T REAL - - - Accel Control Units/Sec

Actual acceleration of the axis based on the selected feedback device.

Control Mode Attributes

Acceleration Control

Attributes

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 265

Load Observer Acceleration Estimate

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get T REAL - - - Accel Control Units/Sec

Output of the Load Observer that, when the Load Observer block is enabled, is

applied to the acceleration reference summing junction. In the Load Observer

configuration, this signal compensates for disturbances to the load relative to

an ideal load model. When the Load Observer is configured to operate in

Acceleration Feedback Only mode, this signal is the estimated acceleration

feedback signal used to close the acceleration loop. When the Load Observer is

disabled, this signal is 0.

Load Observer Torque Estimate

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - PV Get T REAL - - - % Motor Rated

Product of the Load Observer Acceleration Estimate signal and the current

System Inertia value, Kj. In the Load Observer configuration, this signal

represents the estimated torque disturbances to the load relative to an ideal

load model. When the Load Observer is configured to operate in Acceleration

Feedback Only mode, this signal is an estimate of the applied motor torque.

When the Load Observer is disabled, this signal is 0.

See also

Acceleration Control Configuration Attributes on page 265

Motion Control Configuration Attributes on page 528

Velocity Control Mode on page 21

These are the acceleration control configuration attributes associated with a

Motion Control Axis.

Load Observer Configuration

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Accel Control Config

Attributes

Chapter 4 CIP Axis Attributes

266 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - PV Set USINT 0

- - Enumeration

0 = Disabled (R)

1 = Load Observer Only (O)

2 = Load Observer with

Velocity Estimate (O)

3 = Velocity Estimate Only (O)

4 = Acceleration Feedback (O)

5-255 = Reserved

The Load Observer Configuration attribute configures the operation of the

Load Observer. The Load Observer dynamically measures the active load

torque applied to the motor load for the purpose of load disturbance

compensation. Selecting the Velocity Estimate configures the observer to

estimate velocity based on an internal model of the motor and load. When

Velocity Estimate is selected, this signal is applied to the velocity loop to

provide excellentr control loop performance. The Velocity Estimate may be

used in combination with the Load Observer by selecting Load Observer with

Velocity Estimate. The Acceleration Feedback configuration applies

acceleration feedback to the control loop structure to improve stability and

performance. In effect, Acceleration Feedback is like adding virtual inertia to

the motor thus reducing the Load Ratio.

Kop

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - PV Set T REAL FD 0

Radians/Sec

The Load Observer Bandwidth attribute determines the proportional gain,

Kop, of the load observer. This value represents the unity gain bandwidth of

the load observer.

Koi

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - PV Set T REAL 0 0

Radians/Sec

The Load Observer Integrator Bandwidth attribute determines the load

observer integral gain, Koi, that together with the Kop, multiplies the

integrated error signal within the observer. This value represents the

bandwidth of the integrator beyond which the integrator is ineffective. A

value of 0 for this attribute disables the integrator.

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 267

Kof

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 0.5 0

The Load Observer Feedback Gain attribute is a value that, when configured

for Acceleration Feedback, multiplies the Load Observer's acceleration output

signal before applying it as feedback to the acceleration reference summing

junction. The output of this gain term is the Load Observer Acceleration

Estimate signal. If not configured for Acceleration Feedback operation, this

attribute has no effect.

Acceleration Limit

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C

Set

REAL

2*Eq 3

Accel Control Units/Sec

The Acceleration Limit attribute defines the maximum acceleration value

(increasing speed) into the acceleration summing junction. If this

acceleration limit value is exceeded, the device responds by clamping the

acceleration reference to this limit and setting the Acceleration Limit status

bit.

Deceleration Limit

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Set REAL 0

2*Eq 3

Accel Control Units/Sec

The Deceleration Limit attribute defines the maximum deceleration value

(decreasing speed) into the acceleration summing junction. If this

deceleration limit value is exceeded, the device responds by clamping the

acceleration reference to this limit and setting the Deceleration Limit status

bit.

See also

Acceleration Control Attributes on page 264

Motion Control Configuration Attributes on page 528

Chapter 4 CIP Axis Attributes

268 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

These are the command reference generation functionality of the device that

converts command position, velocity, acceleration, and torque data output

from a controller-based or device-based motion planner into corresponding

command references signals to the device's motor control structures. The

command reference generator functionality includes fine interpolators, signal

selector switches, dynamic limiters, command notch filters.

See also

Command Generator Signal Attributes on page 272

Command Generator Configuration Attributes on page 268

The following are the command generator configuration attributes associated

with a Motion Control Axis:

Skip Speed 1

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - F Set/SSV REAL 0

Velocity Units

The Skip Speed 1 attribute sets the central speed of a skip speed band within

which the device does not operate. The skip speed value is signed.

Skip Speed 2

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - F Set/SSV REAL 0

Velocity Units

The Skip Speed 2 attribute sets the central speed of a skip speed band within

which the device does not operate. The skip speed value is signed.

Skip Speed 3

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - F Set/SSV REAL 0

Velocity Units

The Skip Speed 3 attribute sets the central speed of a skip speed band within

which the device does not operate. The skip speed value is signed.

Skip Speed Band

Usage Access Data

Type

Default Min Max Semantics of Values

Command Ref Generation

Attributes

Command Gen Config

Attributes

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 269

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - F Set/SSV REAL 0 0

Velocity Units

When operating in Closed Loop Velocity mode, the Fine Velocity Command

block also supports Skip Bands that are most frequently used in applications

where certain speeds excite mechanical resonance frequencies of the motor

and load.

The Skip Speed Band attribute determines the speed window around a skip

speed that cannot be commanded. Any command setpoint within this window

is adjusted by the Skip Speed block to fall at either the upper or lower Skip

Speed Band boundary value. The device can smoothly accelerate or decelerate

through the skip speed band based on the ramp generator block but may not

operate at a set speed within the band. The Skip Speed Band is distributed ½

above and ½ below the skip speed. This Skip Speed Band attribute applies to

all skip speeds supported in the device. A value of 0 for this attribute disables

this feature.

Ramp Velocity - Positive

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - FV

Derived from

Max Speed

Get/SSV REAL 0 0

Velocity Units

The Ramp Velocity - Positive attribute is a positive value that defines the

maximum positive velocity command output of the Ramp Generator when

commands from the CIP Motion connection are applied to the Ramp

Generator. The Ramp Generator velocity output is not limited for a Ramped

Decel stop.

Ramp Velocity - Negative

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - FV

Derived from

Max Speed

Get/SSV REAL 0

0 Velocity Units

The Ramp Velocity - Negative attribute is a negative value that defines the

maximum negative velocity command output of the Ramp Generator when

commands from the CIP Motion connection are applied to the Ramp

Generator. The Ramp Generator velocity output is not limited for a Ramped

Decel stop

Chapter 4 CIP Axis Attributes

270 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Ramp Acceleration

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - FV

Derived from

Max Accel

Get/SSV REAL 0 0

Accel Units

The Ramp Acceleration attribute is a positive value that defines the maximum

acceleration (increasing speed) of the velocity command output by the Ramp

Generator.

Ramp Deceleration

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - FV

Derived from

Max Decel

Get/SSV REAL 0 0

Accel Units

The Ramp Deceleration attribute is a positive value that defines the maximum

deceleration (decreasing speed) of the velocity command output by the Ramp

Generator.

Ramp Jerk Control

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - FV

Get/SSV

REAL

100

The Ramp Jerk Control attribute sets the percentage of accel or decel time that

is applied to the speed ramp as a jerk limited S-curve based on a step change

in velocity. The S-curve time is added ½ at the beginning and ½ 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:

0.5 * 0.01 * Jerk Control * Ramp Vel Positive / Ramp Accel

and the decelerating Jerk limit value also decreases according to:

0.5 * 0.01 * Jerk Control * Ramp Vel Negative / Ramp Decel.

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 271

Flying Start Enable

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - FV Set/SSV USINT 0 - - 0 = Flying Start Disabled

1 = Flying Start Enabled

The Flying Start Enable attribute is used to enable or disable the Flying Start

feature of the device. When Flying Start Enable is true and the motion axis is

enabled, the device determines the current velocity of the motor, using either

the configured Flying Start Method or, if not supported, a method that is left

to the drive vendor's discretion. This operation is done as part of the Starting

State initialization activities. Before transitioning to the Running state, the

device presets the output of the Ramp Generator to the current velocity. In

this way, the motor seamlessly ramps from its current velocity to the

commanded velocity from the controller. When Flying Start Enable is false,

the motor velocity is irrelevant and a preset of 0 is applied to the Ramp

Generator output.

Some drive vendors do not allow the Flying Start feature to be disabled when

connected to a feedback device. To support this behavior, these drives do not

support the Flying Start Enable attribute, but do support the Flying Start

Method attribute.

Flying Start Method

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set/SSV USINT 0 - - Enumerations:

0 = Encoder Only (R)

1 = Counter EMF (O)

2 = Sweep Frequency (O)

3 - 127 = (Reserved)

128 - 255 = (Vendor Specific)

The Flying Start Method attribute is an enumerated value, which establishes

the method used to "catch" a moving motor when the drive is enabled. The

configured Flying Start Method is applied if Flying Start Enable is true or if

the Flying Start Enable attribute is not supported.

When Encoder Only is selected, the drive uses encoder feedback to determine

the current speed of the motor to initialize the Ramp Generator output. This

method is not applicable without a connected feedback device. If Encoder

Only is selected without a connected feedback device, the Flying Start

function is effectively disabled.

When Counter EMF is selected, the drive determines the speed of the motor

by measuring the motor's Counter EMF and applying the estimated speed to

the Ramp Generator output.

Chapter 4 CIP Axis Attributes

272 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

When Sweep Frequency is selected the drive applies an algorithm that excites

the motor at a predetermined frequency and, while "sweeping" the frequency

to zero, checks for the motor current to change sign when the frequency

matches the speed of the motor. The drive then applies this speed to the Ramp

Generator output.

See also

Command Generator Signal Attributes on page 272

These are the command generator signal attributes associated with a Motion

Control Axis.

Position Fine Command

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - P Get/GSV T REAL - - - Position Units

The Position Fine Command attribute is the output value from the Command

Position fine interpolator.

Velocity Fine Command

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Get/GSV T REAL - - - Velocity Units

The Velocity Fine Command attribute is the output value from the Command

Velocity fine interpolator. When no Command Velocity signal is present when

performing position control, this signal can be derived by scaling the

Differential Position output value of the Command Position fine interpolator.

Acceleration Fine Command

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - C Get/GSV T REAL - - - Accel Units

The Acceleration Fine Command attribute is the output value from the

Command Acceleration fine interpolator. When no Command Acceleration

signal is present when performing position or velocity control, this signal can

be derived by scaling the Differential Velocity output value of the Command

Velocity fine interpolator. If no Command Velocity signal is present, the

Interpolated Command Acceleration signal can be derived by scaling the

Command Generator Signal

Attributes

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 273

second Differential Position output value of the Command Position fine

interpolator.

Skip Speed 1

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0

Velocity Control Units/Sec

The Skip Speed 1 attribute sets the central speed of a skip speed band within

which the device does not operate. The skip speed value is signed.

Skip Speed 2

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0

Velocity Control Units/Sec

The Skip Speed 2 attribute sets the central speed of a skip speed band within

which the device does not operate. The skip speed value is signed.

Skip Speed 3

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0

Velocity Control Units/Sec

The Skip Speed 3 attribute sets the central speed of a skip speed band within

which the device does not operate. The skip speed value is signed.

Skip Speed Band

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV

Set

REAL

Velocity Control Units/Sec

The Skip Speed Band attribute determines the speed window around a skip

speed that cannot be commanded. Skip Speed block adjusts any command

set-point within this window to fall at either the upper or lower Skip Speed

Band boundary value. The device can smoothly accelerate or decelerate

through the skip speed band based on the ramp generator block but may not

operate at a set speed within the band. The Skip Speed Band is distributed ½

above and ½ below the skip speed. This Skip Speed Band attribute applies to

all skip speeds supported in the device. A value of 0 for this attribute disables

this feature.

Ramp Velocity - Positive

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Chapter 4 CIP Axis Attributes

274 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Optional - FPV Set REAL 0 0

Velocity Control Units/Sec

The Ramp Velocity - Positive attribute is a positive value that defines the

maximum positive velocity command output of the Ramp Generator.

Ramp Velocity - Negative

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FPV Set REAL 0

0 Velocity Control Units/Sec

The Ramp Velocity - Negative attribute is a negative value defines the

maximum negative velocity command output of the Ramp Generator.

Ramp Acceleration

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FPV Set REAL 0 0

Velocity Control Units/Sec

The Ramp Acceleration attribute is a positive value that defines the maximum

acceleration (increasing speed) of the velocity command output by the Ramp

Generator.

Ramp Deceleration

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional -

FPV

Set REAL 0 0

Velocity Control Units/Sec

The Ramp Deceleration attribute is a positive value that defines the maximum

deceleration (decreasing speed) of the velocity command output by the Ramp

Generator.

Ramp Jerk Control

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FPV Set REAL 0 0 100 %

The Ramp Jerk Control attribute sets the percentage of acceleration or

deceleration time applied to the speed ramp as jerk limited S Curve based on a

step change in velocity. The S Curve time is added ½ at the beginning and ½ at

the end of the ramp. A value of 0 results in no S-Curve, that is, a linear

Chapter 4 CIP Axis Attributes

Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 275

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 0.5 * 0.01 * Jerk Control * Ramp Vel Positive / Ramp

Accel, and the decelerating Jerk limit value also decreases according to 0.5 *

0.01 * Jerk Control * Ramp Vel Negative / Ramp Decel.

Flying Start Enable

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set BOOL 0 0 1 Enumeration:

0 = Flying Start Disabled

1 = Flying Start Enabled

The Flying Start Enable attribute enables or disables the Flying Start feature of

the device. When Flying Start Enable is true and the motion axis is enabled,

the device determines the current velocity of the motor, using either the

configured Flying Start Method or, if not supported, a method that is left to

the drive vendor’s discretion. This operation is done as part of the Starting

State initialization activities. Just prior to transitioning to the Running state,

the device presets the output of the Ramp Generator to the current velocity.

The motor seamlessly ramps from its current velocity to the commanded

velocity from the controller. When Flying Start Enable is false, the motor

velocity is irrelevant and a preset of 0 is applied to the Ramp Generator

output.

Some drive vendors do not allow the Flying Start feature to be disabled when

connected to a feedback device. These drives do not support the Flying Start

Enable attribute, but do support the Flying Start Method attribute.

Flying Start Method

Usage Access T Data Type Default Min Max Semantics of Values

Optional - FV Set USINT 0 - - Enumerations:

0 = Encoder Only

1 = Counter EMF

2 = Sweep Frequency

The Flying Start Method attribute is an enumerated value that establishes the

method used to “catch” a moving motor when the drive is enabled. The

configured Flying Start Method is applied if Flying Start Enable is true or if

the Flying Start Enable attribute is not supported.

When Encoder Only is selected, the drive uses encoder feedback to determine

the current speed of the motor to initialize the Ramp Generator output. This

Chapter 4 CIP Axis Attributes

276 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

method is not applicable without a connected feedback device. If Encoder

Only is selected without a connected feedback device, the Flying Start

function is effectively disabled.

When Counter EMF is selected, the drive determines the speed of the motor

by measuring the motor’s Counter EMF and applying the estimated speed to

the Ramp Generator output.

When Sweep Frequency is selected the drive applies an algorithm that excites

the motor at a predetermined frequency and, while “sweeping” the frequency

to zero, checks for the motor current to change sign when the frequency

matches the speed of the motor. The drive then applies this speed to the Ramp

Generator output.

Flying Start CEMF Reconnect Delay

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0.002 0 100 Sec

The Flying Start CEMF Reconnect Delay attribute defines the delay between

the start command and the start of the reconnect function.

Flying Start CEMF Current Reg Kp

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 100 0 10000 Volts/Amp

The Flying Start CEMF Current Reg Kp attribute sets the proportional gain for

the current regulator that controls the reconnect function.

Flying Start CEMF Current Reg Ki

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 50 0 1000 (Volts/Amp)/Sec

The Flying Start CEMF Current Reg Ki attribute sets the integral gain for the

current regulator that controls the reconnect function.

Flying Start CEMF Velocity Reg Kp

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

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Optional - FV Set REAL 75 0 10000

Internal Units

The Flying Start CEMF Velocity Reg Kp attribute sets the proportional gain for

the velocity regulator that controls the reconnect function.

Flying Start CEMF Velocity Reg Ki

Usage Access T Data Type Default Min Max Semantics of Values

Optional - FV Set REAL 100 0 10000 Internal Units

The Flying Start CEMF Velocity Reg Ki attribute sets the integral gain for the

velocity regulator that controls the reconnect function.

Flying Start CEMF Excitation Reg Kp

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 50 0 10000 Volts/Amp

The Flying Start CEMF Excitation Reg Kp attribute sets the proportional gain

for the current regulator that controls the excitation function when the

reconnect function determines the need.

Flying Start CEMF Excitation Reg Ki

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV

Set

REAL

100

10000

(Volts/Amp)/Sec

The Flying Start CEMF Excitation Reg Ki attribute sets the integral gain for

the current regulator that controls the excitation function when the reconnect

function determines the need.

Flying Start CEMF Brake Level

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 70 0 100 % Motor Rated

The Flying Start CEMF Brake Level attribute defines the amount of DC

braking current that the drive uses for the Flying Start function. The Flying

Start function applies DC brake current to the motor when it determines the

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motor is spinning near zero speed, which brings the motor to a complete stop

before attempting to restart it.

Flying Start CEMF Brake Time

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0 0 1800 Sec

The Flying Start CEMF Brake Time attribute defines the amount of time the

drive applies the DC braking current for the Flying Start function.

Flying Start CEMF Zero Speed Threshold

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV F Set REAL 100 0 2000 % Motor Rated

The Flying Start CEMF Zero Speed Threshold attribute defines the current

level that the Flying Start function uses for zero speed detection when

applying DC braking.

Flying Start Sweep Reconnect Delay

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 2 0 100 Sec

The Flying Start Sweep Reconnect Delay attribute sets the delay time between

the start command and the start of the reconnect function for power loss

situations so the restart does not occur too quickly causing unwanted faults.

Flying Start Sweep Initial Voltage Reg Kp

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 10 0 10000

The Flying Start Sweep Initial Voltage Reg Kp attribute sets the proportional

gain used by the reconnect function to control the initial output voltage.

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Flying Start Sweep Initial Voltage Reg Ki

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 10 0 10000

The Flying Start Sweep Initial Voltage Reg Ki attribute sets the integral gain

used by the reconnect function to control the initial output voltage.

Flying Start Sweep Time

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 1 0.1 100 Sec

The Flying Start Sweep Time attribute sets the time to sweep frequency in one

direction for use with the reconnect function.

Flying Start Sweep V/Hz DC Boost Adjust

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 150 10 1000 % Motor Rated

The Flying Start Sweep V/Hz DC Boost Adjust attribute sets the voltage of the

0 Hz point on the V/Hz curve used in the primary sweep method.

The attribute value represents the percentage of the rated stator resistance

voltage drop defined by the product of the Induction Motor Stator Resistance

attribute and the Motor Rated Continuous Current attribute.

Flying Start Sweep V/Hz Ratio

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0 0 15 % Motor Rated

The Flying Start Sweep V/Hz Ratio attribute sets the scale value for a fixed

volts per Hertz curve to be used during the sweep.

The attribute value represents the percentage of the rated V/Hz ratio defined

by the Motor Rated Voltage attribute divided by the Induction Motor Rated

Frequency attribute.

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Flying Start Sweep Speed Detect Level

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 37.5 1 100 % Operating Power

The Flying Start Sweep Speed Detect Level attribute sets the level used by the

reconnect function for frequency detection, where the detection signal

remains at this level throughout the time specified in the Flying Start Sweep

Speed Detect Time attribute.

The Vq Voltage Output attribute times the Iq Current Command attribute

define the percentage of Operating Power.

Flying Start Sweep Speed Detect Time

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0.06 0 0.5 Sec

The Flying Start Sweep Speed Detect Time attribute sets the time the

reconnect function uses for frequency detection.

Flying Start Sweep Recovery Current Reg Ki

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 60 0 1000

The Flying Start Sweep Recovery Current Reg Ki attribute sets the integral

gain used by the reconnect function in the voltage recovery to the normal

V/Hz level.

Flying Start Sweep Voltage Reg Kp

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 75 0 10000

The Flying Start Sweep Voltage Reg Kp attribute sets the proportional gain for

the output voltage regulator that controls the reconnect function

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Flying Start Sweep Voltage Reg Ki

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 100 0 10000

The Flying Start Sweep Voltage Reg Ki attribute sets the integral gain for the

output voltage regulator that controls the reconnect function.

Flying Start Sweep Brake Level

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 70 0 100 % Motor Rated

The Flying Start Sweep Brake Level attribute defines the level of DC braking

current that the drive uses for the Flying Start function. The Flying Start

function applies DC brake current to the motor when it determines the motor

is spinning near zero speed, in order to bring the motor to a complete stop

before attempting to restart it.

Flying Start Sweep Brake Time

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 0 0 1800 Sec

The Flying Start Sweep Brake Time attribute defines the amount of time the

drive can apply the DC braking current for the Flying Start function.

Flying Start Sweep Zero Speed Threshold

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - FV Set REAL 100 0 200 % Motor Rated

The Flying Start Sweep Zero Speed Threshold attribute defines the current

level that the Flying Start function uses for zero speed detection when

applying DC braking.

Command Notch Filter Frequency

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

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Optional - PV Set REAL 0 0 10

Radians/sec

The Command Notch Filter Frequency attribute controls the center frequency

of the notch filter applied to the position, velocity, and acceleration command

signals. This filter is useful in reducing the effects of anti-resonance when

driving a compliant load. This object revision of the CIP Motion specification

supports up to two command notch filter instances connected in series. A

value of 0 for this attribute disables this feature.

Command Notch Filter Width

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 0.707 0

See Semantics

The Command Notch Filter Width attribute sets the damping ratio, Zd, in the

denominator of the command notch filter equation that determines the width

of the notch for the first command notch filter instance.

The frequency range over which signal attenuation is more than 3 dB is

calculated as follows:

Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z

- .5z

Where,

z = Notch Filter Depth / Notch Filter Width

When Notch Filter Depth is set to 0, z = 0.

Command Notch Filter Depth

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 0 0

See Semantics

The Command Notch Filter Depth attribute sets the damping ratio, Zn, in the

numerator of the command notch filter equation that determines the depth of

the notch for the first command notch filter instance.

The notch filter depth at the center frequency can be calculated as follows:

Depth (dB) = 20log10 (z).

Where,

z = Notch Filter Depth / Notch Filter Width

When Notch Filter Depth is set to 0, z = 0.

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Command Notch Filter Gain

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 1 0

See Semantics

The Command Notch Filter Gain attribute sets the high frequency gain of the

first command notch filter instance. For notch filter operation, the value for

this attribute is set to 1. A value greater than one results in a lead-lag filter

function and a value less than 1 results in a lag-lead filter function. A value of 0

results in a low pass filter function.

Command Notch Filter 2 Frequency

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 0 0 10

Radians/sec

The Command Notch Filter 2 Frequency attribute controls the center

frequency of the notch filter applied to the fine position, velocity, and

acceleration command signals. This filter is useful in reducing the effects of

anti-resonance when driving a compliant load. This object revision of the CIP

Motion specification supports up to two command notch filter instances

connected in series. A value of 0 for this attribute disables this feature.

Command Notch Filter 2 Width

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 0.707 0

See Semantics

The Command Notch Filter 2 Width attribute sets the damping ratio, Zd, in

the denominator of the command notch filter equation that determines the

width of the notch for the second command notch filter instance.

The frequency range over which signal attenuation is more than 3 dB can be

calculated as follows:

Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z

- .5z

Where,

z = Notch Filter Depth / Notch Filter Width

When Notch Filter Depth is set to 0, z = 0.

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Command Notch Filter 2 Depth

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - PV Set REAL 0 0

See Semantics

The Command Notch Filter 2 Depth attribute sets the damping ratio, Zn, in

the numerator of the command notch filter equation that determines the

depth of the notch for the second command notch filter instance.

The notch filter depth at the center frequency is calculated as follows:

Depth (dB) = 20log10 (z).

Where,

z = Notch Filter Depth / Notch Filter Width

When Notch Filter Depth is set to 0, z = 0.

Command Notch Filter 2 Gain

Usage Access T Data Type Default Min Max Semantics of Values

Optional - PV SetSSV REAL 1 0

See Semantics

The Command Notch Filter 2 Gain attribute sets the high-frequency gain of

the second command notch filter instance. For notch filter operation, the

value for this attribute is set to 1. A value greater than one results in a lead-lag

filter function and a value less than 1 results in a lag-lead filter function. A

value of 0 results in a low pass filter function.

See also

Command Generator Configuration Attributes on page 268

These are the current control configuration attributes associated with a

Motion Control Axis.

Current Vector Limit

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D Set REAL 100

0 10

% Motor Rated

Current Vector Limit value applied to the current vector limiter to provide a

configurable limit to the magnitude of the current vector.

Current Control Config

Attributes

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Kqp

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Set REAL 0

Radians/Sec

The Kqp attribute determines the Iq Proportional Gain value that multiplies

the Iq Current Error signal. This value directly determines the bandwidth of

the torque producing current loop. Iq Proportional Gain value that multiplies

the Iq Current Error signal before applying it to the Iq decoupling summing

junction as part of the torque producing current loop. In cases where the

torque producing current loop is controlled by something other than the

traditional PI regulator, the Torque Loop Bandwidth is used by the drive to

provide single parametric control of the current loop bandwidth. If the Flux

Loop Bandwidth is not supported, the drive will use the Torque Loop

Bandwidth for tuning both the torque producing and flux producing current

loops.

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Kqi

Usage Access Data

Type

Default Min Max Semantics of Values

Optional - C Set REAL 0 0

Radians/Sec

Iq Integral Gain value that, together with Kqp, multiplies the Iq Current Error

signal before applying it to the Iq Integrator Error accumulator. The

reciprocal of this value, 1/Kqi, represents the integrator time constant for the

torque current loop. A value of 0 for this attribute disables the integrator.

Kdp

Usage Access Data

Type

Default Min Max Semantics of Values

Optional - C Set REAL 0

Radians/Sec

The Kdp attribute determines the Id Proportional Gain value that multiplies

the Id Current Error signal. This value directly determines the bandwidth of

the flux producing current loop.

Kdi

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Set REAL 0

Radians/Sec

The Kdi attribute determines the Id Integral Gain value that, together with

Kdp, multiplies the Id Current Error signal before applying it to the Id

Integrator Error accumulator. The reciprocal of this value, 1/Kdi, represents

the integrator time constant for the flux current loop. A value of 0 for this

attribute disables the integrator.

Flux Loop Bandwidth

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Set/SSV REAL Eq7 0

Loop Bandwidth Units

The Flux Loop Bandwidth attribute determines the Id Proportional Gain value

that multiplies the Id Current Error signal before applying it to the Iq

decoupling summing junction as part of the flux producing current loop. In

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cases where the flux producing current loop is controlled by something other

than the traditional PI regulator, the Flux Loop Bandwidth is used by the drive

to provide single parametric control of the current loop bandwidth. If the Flux

Loop Bandwidth is not supported, the drive shall use the Torque Loop

Bandwidth for tuning both the torque producing and flux producing current

loops.

Flux Integral Time Constant

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Set/SSV REAL 0 0

Seconds

The Flux Integral Time Constant value determines the response time of the

flux producing current loop integrator. When used for Pole-Zero cancelation,

this value is set to the electrical time constant of the motor. A value of 0 for the

Flux Integral Time Constant disables the integrator.

Flux Up Control

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional- D

(Induction Motor)

Set USINT 0 - - Enumeration

0 = No Delay (R)

1 = Manual Delay (O)

2 = Automatic Delay (O)

3-255 = Reserved

When the motion axis is enabled, DC current is applied to an induction motor

to build stator flux before transitioning to the Running state. This attribute

controls how an induction motor is to be fluxed in the Starting state before

transitioning to the Running state. If No Delay is selected, the axis transitions

immediately to the Running state while the motor flux is building. With

Manual Delay, the axis remains in the Starting state for the Flux Up Time to

allow time for the motor to be fully fluxed. With Automatic Delay, the drive

device determines the amount of time to delay to fully flux the motor based on

motor configuration attribute data or measurements.

If this attribute is not supported in the implementation, it is recommended

that the drive establish induction motor flux using alternative means before

transitioning to the Running state.

Flux Up Time

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

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288 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D

(Induction Motor)

Set REAL 0 0 10

Seconds

The Flux Up Time attribute sets the amount of time the drive device allows to

build full motor flux before transitioning to the Running state.

Feedback Commutation Aligned

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM)

Set/GSV USINT 0

- - Enumeration

0 = Not Aligned (R)

1 = Controller Offset (R)

2 = Motor Offset (O)

3 = Self-Sense (O)

4 = Database Offset (O)

5-255 = Reserved

This enumerated parameter is set to Controller Offset (1) when the motor

mounted absolute feedback device is to be aligned with the stator windings of

the PM motor according to the Commutation Offset value. In some cases, the

Commutation Offset can be preset to a value established by factory alignment

of the motor feedback device relative to the motor stator windings.

A setting of Not Aligned (0) indicates that the motor is not aligned, and that

the Commutation Offset value is not valid. If the Commutation Offset is not

valid, it cannot be used by the drive to determine the commutation angle. Any

attempt to enable the drive with an invalid commutation angle will result in a

Start Inhibit condition.

Alignment can be achieved using a Commutation Test that measures and sets

the Commutation Offset for the motor or by direct user entry. If this attribute

is set to Motor Offset (2), the drive derives the commutation offset directly

from the motor. If set to Self-Sense (3), the drive automatically measures the

commutation offset when it transitions to the Starting state for the first time

after a power cycle. This generally applies to a PM motor equipped with a

simple incremental feedback device.

Commutation Offset

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Required - CE

(PM Motor) !LTM

Set REAL 0

Electrical Degrees

The Commutation Offset attribute specifies the commutation offset of the PM

motor mounted feedback device in units of electrical degrees. This attribute

specifies the offset from a commutation reference position defined by

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applying DC current into the A terminal and out of the shorted B and C

terminals of the motor and allowing the rotor to move to its magnetic null

position relative to the stator. On an absolute encoder or resolver, the offset is

the difference from the device’s zero absolute position and the commutation

reference position. On an incremental encoder or Hall sensor with UVW

signals, the offset is the difference between the position corresponding to a

transition of the commutation device’s W (S3) channel with the U (S1) channel

high and the V (S2) channel low, and the commutation reference position. The

commutation offset is only applicable to the motor mounted Feedback 1

device.

When the optional Commutation Alignment attribute is supported and set to

Controller Offset, the drive shall apply the Commutation Offset value from the

controller to determine the electrical angle of the motor. In this case, a valid

Commutation Offset value must be established by the controller. In the

unusual case where the commutation offset is also stored in the motor and

differs significantly from the Commutation Offset value from the controller,

the drive shall transition to the Start Inhibited state.

If the Commutation Alignment attribute is not set to Controller Offset, the

Commutation Offset value from the controller is ignored by the drive and the

drive must determine its internal commutation offset value by other means.

Without a valid commutation offset, the drive shall be Start Inhibited.

Commutation Self-Sensing Current

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM Motor)

Set REAL 100 0 200 % Motor Rated

When a PM motor feedback drive device is an incremental encoder without

UVW tracks for commutation, a Self-Sensing algorithm is run during the

Starting state that determines the Commutation Offset to apply to the

position feedback. This algorithm applies a current to the motor stator to

orient the rotor to establish the motor commutation phasing.

Commutation Polarity

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM Motor)

Set USINT 0 - - Enumeration

0 = Normal

1 = Inverted

2-255 = Reserved

When a PM motor is using UVW signals for commutation startup, it is critical

that the UVW phases of the commutation device follow the phasing of the

motor. Normal polarity implies UVW phasing according to factory

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specification when the commutation device is moving in the factory defined

positive direction. Inverted polarity effectively switches the UVW phasing to

UWV thus reversing the directional sense of the commutation device. If it is

determined through a Commutation Test that the phasing of the motor and

the phasing of the commutation device have opposite polarity, this attribute

can be used to compensate for the mismatch.

Commutation Offset Compensation

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(IPM Only)

Set REAL 0 0

Electrical Degrees

This value specifies the change in the Commutation Offset value in units of

electrical degrees as a linear function of current. When the Iq current is +100%

of rated continuous current, the Commutation Offset value is decreased by

the value of this attribute. When the Iq current is -100%, the Commutation

Offset is increased by the value of the attribute. This attribute is used by the

drive to compensate for changes in the optimal Commutation Offset angle

that can occur as a function of motor current.

Commutation Alignment

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM Motor) !LTM

Set USINT 0 0

Enumeration:

0 = Not Aligned (R)

1 = Controller Offset (R)

2 = Motor Offset (O)

3 = Self-Sense (O)

4-255 = Reserved

This enumerated parameter is set to Controller Offset (1) when the motor

mounted absolute feedback device is to be aligned with the stator windings of

the PM motor according to the Commutation Offset value. In some cases, the

Commutation Offset can be preset to a value established by factory alignment

of the motor feedback device relative to the motor stator windings. A setting

of Not Aligned (0) indicates that the motor is not aligned, and that the

Commutation Offset value is not valid. If the Commutation Offset is not valid,

it cannot be used by the drive to determine the commutation angle. Any

attempt to enable the drive with an invalid commutation angle shall result in a

Start Inhibit condition. Alignment can be achieved via a Commutation Test

that measures and sets the Commutation Offset for the motor or by direct

user entry. If this attribute is set to Motor Offset (2), the drive derives the

commutation offset directly from the motor. If set to Self-Sense (3), the drive

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automatically measures the commutation offset when it transitions to the

Starting state for the first time after a power cycle. This generally applies to a

PM motor equipped with a simple incremental feedback device.

The Default Commutation Alignment value used for the Feedback

Commutation Aligned and Commutation Alignment attributes depends on

the associated Feedback Type and whether the motor commutation device is

Factory Aligned. When the Motor Data Source is from Datasheet, it is

assumed that the motor is not Factory Aligned. When the Motor Data Source

is from Database, the motor data in the database indicates if the motor is

Factory Aligned.

The following table correlates the default commutation alignment with the

valid commutation alignment selections.

Default Commutation Alignment Valid Commutation Alignment Selections

Feedback Type

Factory Aligned -

True

Factory Aligned -

False

Digital AqB

Self-Sense*

Not Aligned | Self-Sense

Digital AqB with UVW

Database Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset | Self-Sense

Digital Parallel

Database Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset

Sine/Cosine

Self-Sense*

Not Aligned | Self-Sense

Sine/Cosine with UVW

Database Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset | Self-Sense

Hiperface

Motor Offset*

Not Aligned

Not Aligned | Database Offset | Controller Offset | Motor Offset | Self-Sense

EnDat Sine/Cosine

Motor Offset*

Not Aligned

Not Aligned | Database Offset | Controller Offset | Motor Offset | Self-Sense

EnDat Digital Motor Offset* Not Aligned Not Aligned | Database Offset | Controller Offset | Motor Offset

Resolver

Database Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset

SSI Digital Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset

Hiperface DSL

Motor Offset*

Not Aligned

Not Aligned | Database Offset | Controller Offset | Motor Offset

BiSS Digital

Motor Offset*

Not Aligned

Not Aligned | Database Offset | Controller Offset

SSI Sine/Cosine Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset | Self-Sense

SSI AqB

Database Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset | Self-Sense

BiSS Sine/Cosine

Database Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset | Self-Sense

Tamagawa Serial

Motor Offset*

Not Aligned

Not Aligned | Database Offset | Controller Offset | Motor Offset

Nikon Serial

Motor Offset

Not Aligned

Not Aligned | Database Offset | Controller Offset | Motor Offset

Stahl SSI Database Offset Not Aligned Not Aligned | Database Offset | Controller Offset

Track Section N/A N/A N/A

Track Mover

N/A

If the drive does not support the optional Commutation Alignment enumerations Self-Sense and Motor Offset, the create time default Commutation Alignment of

Not Aligned is retained.

See also

CIP Axis Attributes on page 261

These are the current control signal related attributes associated with a

Motion Control Axis.

Current Control Signal

Attributes

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Current Command

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Required - C Get/GSV T REAL - - - % Motor Rated

The Current Command attribute represents the instantaneous value of the

commanded torque producing current signal, Iq, before passing through the

vector current limiter. It is tied directly to the output of the torque reference

path after the 1/Kt scaling that represents the torque effort to be applied to the

drive's torque producing Iq current loop. The nominal value for 1/Kt is 1 based

on 100% rated torque being produced by 100% rated current.

Operative Current Limit

Usage

Access

Data Type

Default

Min

Max

Semantics of Values

Optional - XD Get/GSV T REAL - - - % Motor Rated

The Operative Current Limit attribute represents the operative current limit

based on multiple limit sources.

Current Limit Source

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - XD Get/GSV T DINT - - - Enumeration

0 = Not Limited

1 = Inverter Peak Current

Limit

2 = Motor Peak Current

Limit

3 = Inverter Thermal

Current Limit

4 = Motor Thermal

Current Limit

5 = Shunt Regulator

Limit

6 = Current Vector Limit

7 = Brake Test Limit

8-127 = Reserved

128-255 = Vendor

Specific

The Current Limit Source attribute represents the operative source of a

current limit when a current limit condition occurs.

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Motor Electrical Angle

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Required - C

PM Motor

Get/GSV T REAL - - - Degrees

The Motor Electrical Angle attribute is the calculated electrical angle of the

motor based on motor pole count, commutation offset, and selected feedback

device.

Current Reference

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C

Get/GSV

REAL

% Motor Rated

The Current Reference attribute is the current reference signal, Iq, into the

torque current loop summing junction.

Flux Current Reference

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get/GSV T REAL - - - % Motor Rated

The Flux Current Reference attribute is the current reference signal, Id, into

the flux producing current loop summing junction.

Current Disturbance

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Set/SSV T REAL - - - % Motor Rated

Injected torque producing current command used to excite the motor as part

of the Frequency Analysis service.

Current Error

Usage

Access

Data

Type

Default

Min

Max

Semantics of

Values

Optional - C Get/GSV T REAL - - - % Motor Rated

Error between commanded and actual current that is the output of the torque

producing, q-axis, current loop summing junction.

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Flux Current Error

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get/GSV T REAL - - - % Motor Rated

Error between commanded and actual current that is the output of the flux

producing, d-axis, current loop summing junction.

Current Feedback

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get/GSV T REAL - - - % Motor Rated

Actual torque current applied to the axis based on current sensor feedback.

Flux Current Feedback

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C Get/GSV T REAL - - - % Motor Rated

Actual flux current applied to the axis based on current sensor feedback.

Track Section Coil n Current Feedback

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - X Get/GSV T REAL - - - Amps

Instantaneous current measured on coil n of the track section, where n can

range from one to 12.

Vq Id Decoupling Gain

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D Set/SSV REAL 100 0 200 %

Gain value that determines the amount of Iq impedance-related voltage to

apply to the Vd reference signal to decouple the q-axis and d-axis current

control. A Vd Iq Decoupling Gain of 100% applies the full Iq impedance

voltage to the Vq reference summing junction as reflected by the Vq

Decoupling signal.

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Vd Iq Decoupling Gain

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D (PM) Set/SSV REAL 100 0 200 %

Gain value that determines the amount of Iq impedance-related voltage to

apply to the Vd reference signal to decouple the q-axis and d-axis current

control. A Vd Iq Decoupling Gain of 100% applies the full Iq impedance

voltage to the Vq reference summing junction as reflected by the Vq

Decoupling signal.

Lq Iq Feedback Filter Bandwidth

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D (PM) Set/SSV REAL 1.6 1 10

Filter Frequency Units

Value to set the bandwidth for the Iq feedback filter used to compensate for

changes in Lq due to the magnetic saturation effects of PM motor types.

Flux Vector Frequency Regulator Kp

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C, !E

(IM)

Set/SSV REAL 524 0

Hz/Amp

Value to set the proportional gain used by the flux vector frequency regulator

for closed loop flux vector operation without a feedback device (encoderless or

sensorless operation). This regulator allows the drive to maintain proper field

orientation and torque producing current, Iq, by adjusting the output

frequency of the drive.

Flux Vector Frequency Regulator Ki

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - C, !E

(IM)

Set/SSV REAL 9080 0

(Hz/Amp)/Sec

Value to set the integral gain used by the flux vector frequency regulator for

closed loop flux vector operation without a feedback device (encoderless or

sensorless operation). This regulator allows the drive to maintain proper field

orientation and torque producing current, Iq, by adjusting the output

frequency of the drive.

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Motor Stability Control Enable

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D !E

Set/SSV USINT 0 - -

Enumerations:

0 = Disabled

1 = Enabled

Enumerated value used to enable or disable the Motor Stability Control

function, which works to stabilize certain motors that are otherwise unstable

when operating without a feedback device (encoderless or sensorless

operation).

Motor Stability Control Filter Bandwidth

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D !E Set/SSV REAL 30 0 10

Filter Frequency Units

Value to set the filter bandwidth for the Iq current signal used to adjust

voltage and frequency to stabilize the motor.

Motor Stability Control Voltage Gain

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D !E

Set/SSV REAL 5162 0

Volts/Amp

Value to set the gain of the voltage stability control function based on the

filtered Iq current signal.

Motor Stability Control Frequency Gain

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D !E

Set/SSV REAL 790 0

Hz/Amp

Value to set the gain of the electrical angle stability control function based on

the filtered Iq current signal.

Power Device Compensation Enable

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

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Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023 297

Optional - D

Set/SSV USINT 1 - -

Enumerations:

0 = Disabled

1 = Enabled

Enumerated value used to enable or disable the Power Device Compensation

function, which works to compensate for power structure switching dead

time, switching delay, voltage drop, and reflected wave dynamics. The

Power Device Dead Time Compensation attribute adjusts dead time

compensation. In rare cases, these compensation functions can result in DC

offsets that increase torque ripple. In such cases, disabling Power Device

Compensation can reduce the DC offset level.

Power Device Dead Time Compensation

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - D

Set/SSV REAL 100 0 200

% of Delay

Value that determines what percentage of the known power device switching

delay to compensate for. Switching delay, if left uncompensated, can result in

low-speed motor current distortion and excessive torque ripple. This problem

is prevalent when controlling motors without a feedback device (encoderless

or sensorless operation). Power Device Compensation must be enabled for

this attribute to have any effect.

Feedback Commutation Aligned

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM)

(!LTM)

Set/GSV USINT 0 DB - -

Enumeration:

0 = Not Aligned (R)

1 = Controller Offset (R)

2 = Motor Offset (O)

3 = Self-Sense (O)

4 = Database Offset (O)

5-255 = Reserved

This enumerated parameter is set to Controller Offset (1) or Database Offset

(4) when the motor mounted absolute feedback device is to be aligned with the

stator windings of the PM motor according to the Commutation Offset value.

In some cases, the Commutation Offset can be preset to a value established by

factory alignment of the motor feedback device relative to the motor stator

windings. A setting of Not Aligned (0) indicates that the motor is not aligned,

and that the Commutation Offset value is not valid. If the Commutation

Offset is not valid, it cannot be used by the drive to determine the

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commutation angle. Any attempt to enable the drive with an invalid

commutation angle shall result in a Start Inhibit condition. Alignment can be

achieved via a Commutation Test that measures and sets the Commutation

Offset for the motor or by direct user entry. If this attribute is set to Motor

Offset (2), the drive derives the commutation offset directly from the motor. If

set to Self-Sense (3), the drive automatically measures the commutation offset

when it transitions to the Starting state for the first time after a power cycle.

This generally applies to a PM motor equipped with a simple incremental

feedback device.

This is a proprietary version of a new standard attribute, Commutation

Alignment. Both Default and Valid Commutation Alignment values depend

on the selected Feedback 1 Type as defined in the following Semantics section.

Commutation Startup Method

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM)

Set/GSV USINT 0 DB - -

Enumeration:

0 = From Feedback

Type (R)

1 = UVW (O)

2 = Digital (O)

3 = Self-Sense (O)

4-255 = Reserved

Specifies the method used by the drive to establish absolute rotor (or linear

motor magnet track) alignment relative to stator windings (or linear motor

moving coil) for the purposes of PM motor commutation when starting up the

drive. If this attribute is not supported, the Feedback 1 Type selection

determines the commutation startup method. Likewise, if this attribute is

supported and set to From Feedback Type, the Feedback 1 Type selection also

determines the commutation startup method.

The UVW startup method uses UVW signals from motor mounted encoder

tracks or Hall sensors together with the Commutation Offset to align the rotor

with stator windings or, in the case of a linear motor, the moving coil with the

magnet track. Once aligned, commutation is maintained via position signals

from the motor mounted feedback device, that is, Feedback 1.

The Digital startup method uses Digital signals from a motor mounted

absolute feedback device together with the Commutation Offset to align the

rotor with stator windings or, in the case of a linear motor, the moving coil

with the magnet track.

The Self-Sensing start-up method applies current to the motor stator (or

moving coil) during the initial Starting state to force the rotor (or moving coil)

to the Null position and achieve proper commutation alignment. Once

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aligned, commutation is maintained via position signals from the motor

mounted feedback device, Feedback 1. This method is used when there is no

absolute feedback available to align the motor, for example. a motor equipped

with an incremental encoder.

Commutation Offset

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Required – CE

(PM)

(!LTM)

SSV#/GSV REAL 0 DB 0

Electrical Degrees

A value that specifies the commutation offset of the PM motor mounted

feedback device in units of electrical degrees. This attribute specifies the

offset from a commutation reference position defined by applying DC current

into the A terminal and out of the shorted B and C terminals of the motor and

allowing the rotor to move to its magnetic null position relative to the stator.

On an absolute encoder or resolver, the offset is the difference from the

device’s zero absolute position and the commutation reference position. On

an incremental encoder or Hall sensor with UVW signals, the offset is the

difference between the position corresponding to a transition of the

commutation device’s W (S3) channel (with the U (S1) channel high and the V

(S2) channel low) and the commutation reference position. The commutation

offset is only applicable to the motor mounted Feedback 1 device.

When the optional Commutation Alignment attribute is supported and set to

Controller Offset or Database Offset, the drive applies the Commutation

Offset value from the controller to determine the electrical angle of the motor.

In this case, a valid Commutation Offset value must be entered by the user,

read from the Motor Database, or determined by the Commutation Test. In

the unusual case where the commutation offset is also stored in the motor and

differs significantly from the Commutation Offset value from the controller,

the drive shall transition to the Start Inhibited state.

If the Commutation Alignment attribute is not set to Controller Offset or

Database Offset, the drive ignores the Commutation Offset value from the

controller and the drive must determine its internal commutation offset value

by other means. Without a valid commutation offset, the drive shall be Start

Inhibited.

Commutation Self-Sensing Current

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

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300 Rockwell Automation Publication MOTION-RM003O-EN-P - November 2023

Optional - CE

(PM)

Set/GSV REAL 100 0 200

% Motor Rated

When a PM motor feedback drive device is an incremental encoder without

UVW tracks for commutation, a Self-Sensing algorithm is run during the

Starting state that determines the Commutation Offset to apply to the

position feedback. This algorithm applies a current to the motor stator to

orient the rotor to establish the motor commutation phasing.

Commutation Polarity

Usage Access T Data

Type

Default Min Max Semantics of Values

Optional - CE

(PM)

Set/SSV* USINT 0 - -

Enumeration:

0 = Normal

1 = Inverted

2-255 = (reserved)

When a PM motor is using UVW signals for commutation startup, it is critical

that the UVW phases of the commutation device follow the phasing of the

motor. Normal polarity implies UVW phasing according to factory

specification when the commutation device is moving in the factory defined

positive direction. Inverted polarity effectively switches the UVW phasing to

UWV thus reversing the directional sense of the commutation device. If it is

determined via a Commutation Test that the phasing of the motor and the

phasing of the commutation device have opposite polarity, this attribute can

be used to compensate for the mismatch.

Commutation Alignment

Usage

Access

Data

Type

Default

Min

Max

Semantics of Values

Optional - CE

(PM)

(!LTM)

Set/GSV USINT 0 DB - -

Enumeration:

0 = Not Aligned (R)

1 = Controller Offset (R)

2 = Motor Offset (O)

3 = Self-Sense (O)

4 = Database Offset (O)

5-255 = Reserved

This enumerated parameter is set to Controller Offset (1) or Database Offset

(4) when the motor mounted absolute feedback device is to be aligned with the

stator windings of the PM motor according to the Commutation Offset value.

In some cases, the Commutation Offset can be preset to a value established by

factory alignment of the motor feedback device relative to the motor stator

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