Command Generator Signal Attributes
These are the command generator signal attributes associated with a Motion Control Axis.
Position Fine Command
Usage | Access | T | 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 | T | 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 | T | 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 second Differential Position output value of the Command Position fine interpolator.
Skip Speed 1
Usage | Access | T | 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 | T | 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 | T | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - FV | Set | REAL | 0 | 0 | | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
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 | T | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - FPV | Set | REAL | 0 | 0 | | Velocity Control Units/Sec 2 |
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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - FPV | Set | REAL | 0 | 0 | | Velocity Control Units/Sec 2 |
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 | T | 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 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 | T | 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 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 | T | 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 | T | 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 | T | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - FV | Set | REAL | 75 | 0 | 100000 | 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 | T | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - FV | Set | REAL | 100 | 0 | 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 | T | 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 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 | T | 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 | T | 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 | T | 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 | T | 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.
Flying Start Sweep Initial Voltage Reg Ki
Usage | Access | T | 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 | T | 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 | T | 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 | T | 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.
Flying Start Sweep Speed Detect Level
Usage | Access | T | 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 | T | 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 | T | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - FV | Set | REAL | 75 | 0 | 100000 |
The Flying Start Sweep Voltage Reg Kp attribute sets the proportional gain for the output voltage regulator that controls the reconnect function
Flying Start Sweep Voltage Reg Ki
Usage | Access | T | 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 | T | 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 | T | 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 | T | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 0 | 0 | 10 4 | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 0.707 | 0 | 4 | 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
2
- .5z4
- z6
).Where,
z = Notch Filter Depth / Notch Filter Width
When Notch Filter Depth is set to 0, z = 0.
Command Notch Filter Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 0 | 0 | 4 | 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.
Command Notch Filter Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 1 | 0 | 4 | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 0 | 0 | 10 4 | 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 | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 0.707 | 0 | 4 | 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
2
- .5z4
- z6
).Where,
z = Notch Filter Depth / Notch Filter Width
When Notch Filter Depth is set to 0, z = 0.
Command Notch Filter 2 Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
Optional - PV | Set | REAL | 0 | 0 | 4 | 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 | 4 | 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.
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