Motion Control Config Attributes

Bitmap

0 = Fine Interpolation (O)

1 = Registration Auto-rearm (O)

2 = Alarm Log (O)

3 = Marker (O)

4 = Home Switch (O)

5 = Hookup Test (O)

6 = Commutation Test (O)

7 = Motor Test (O)

8 = Inertia Test (O)

9 = Sensorless Control (O)

10 = Drive Scaling (O)

11 = Extended Event Block (O)

12 = Integer Command Position (O)

13 = Ext. Motor Test (O)

14 = Control Mode Change (O)

15 = Feedback Model Change (O)

16 = Pass Bus Status (O)

17 = Pass Bus Unload (O)

18 = Ext. Speed for SPM (O)

19 = Ext. Speed for IPM (O)

20 = Ext. Pos. Feedback (O)

21 = Ext. Sub Code Format (O)

22: Ext. Dynamic Motor Test (O)

23: Hookup Test Speed(O)

24: Device Test Mode

25-31: (reserved)

Indicates that the axis supports fine interpolation of command data based on command target time. Fine interpolation is used to provide smoother command reference signals when the drive update period is smaller than the controller update period.

Indicates that the axis supports the automatic re-arming mechanism for registration inputs. This feature is required for windowed registration support.

Indicates that this axis supports the Alarm Log feature. Alarm Log data is received from the drive using the Alarm bit of the Status Data Set and updates the Alarm Log of the controller.

Indicates that the axis position feedback device supports a marker function. This functionality is required for Homing Sequences that employ the marker signal and for the marker Hookup Test.

Indicates that the axis supports a home switch input. This functionality is required for Homing Sequences that employ the home switch input signal.

The axis supports a Hookup Test service. This service is required to perform a Hookup Test (MRHD) to check wiring to the motor and feedback components.

The axis supports a Commutation Test as part of the Hookup Test service. This service is required to perform a Hookup Test (MRHD) to check commutation wiring and determine the Commutation Offset.

The axis supports a Motor Test service. This service is required to perform a Motor Test (MRMT) to measure motor model parameters.

The axis supports an Inertia Test service. This service is used as part of the Auto Tune (MRAT) that measures inertia.

The axis supports sensorless control operation letting the drive run in velocity loop mode without an external feedback device.

The device supports Drive Scaling functionality where the device is able to scale feedback counts to planner counts and manage absolute position.

The device supports the extended Event Data Block format. This format supports additional features generally associated with Drive Scaling functionality, such as Watch Position events and Windowed Registration.

The device requires Command Position Format to be a DINT (32-bit signed integer) data type. If not set, the device supports the standard LREAL (64-bit floating point) Command Position data type.

The device supports the extended motor data format for the Motor Test service. This format supports transfer of vendor specific motor parameters and is required for the Motor Test service to support IPM motors.

The device supports changes to the Control Mode while in the Running state without generating large motion disturbances (bumpless). An example of such a mode change would be to switch from Position Control to Torque Control using an SSV instruction. If a particular Control Mode change is not supported by the device, a Configuration Fault will be generated.

The device supports the ability to change the Feedback Mode while in the Running state without generating large motion disturbances (bumpless). An example of such a mode change would be to switch from Load Feedback to Motor Feedback using an SSV instruction. If a particular Feedback Mode change is not supported by the device, a Configuration Fault will be generated.

The device supports passing Converter Status bits, Bus Up and AC Power Loss, in the Control Status element of the C2D Connection's Axis Instance header when configured for DC Bus Sharing. The states of these Bus Status bits are determined by the controller based on the Bus Up and AC Power Loss bits passed in the Axis Status element of the D2C Connection's Cyclic Data of Converters or Drives (Bus Masters) that also support the Pass Bus Status feature. If clear, the associated device does not support Bus Up and AC Power Loss bits in the C2D Connection. Furthermore, if clear, the Bus Up and AC Power Loss status bits received by the controller in the device's D2C connection are not passed on to any other devices.

The associated device is capable of generating a Bus Sharing exception based on Bus Unload request bit passed in the Control Status element of the C2D Connection's Axis Instance header. In this case, the controller passes a Bus Unload request to the device if any Converter or Drive (Bus Masters) in its Bus Sharing Group requests a Bus Unload. If clear, the controller is responsible for generating a Bus Sharing exception for this device axis in response to a Bus Unload request from any Converter or Drive (Bus Masters) in its Bus Sharing group.

The device supports extending the speed range of an SPM motor through field weakening to speeds that require methods to protect drives from destructive DC Bus Overvoltage conditions. To manage that risk, the Extended Speed feature provides additional PM motor attributes including a PM Motor Extended Speed Permissive attribute.

The device supports extending the speed range of an IPM motor through field weakening to speeds that require methods to protect drives from destructive DC Bus Overvoltage conditions. To manage that risk, the Extended Speed feature provides additional PM motor attributes including a PM Motor Extended Speed Permissive attribute.

The device supports passing Actual Position as a 64-bit LINT element in the Cyclic Data Block of the D2C Connection. If this bit is clear, the device only supports passing Actual Position as a 32-bit DINT.

The device supports the Extended Sub Code Format as defined in the Motion Device Axis Object. The extended format uses the most significant bit of the Sub Code to select one of two bit field formats for the remaining 7-bits.

If set, the associated device supports operation in one or more device test modes.

Enumeration

0 = Feedback Only (O)

1 = Frequency Control (O)

2 = Position Loop (O)

3 = Velocity Loop (O)

4 = Torque Loop (O)

5 = Non-Regenerative AC/DC Converter (O)

6 = Regenerative AC/DC Converter (O)

7 = Low Harmonic AC/DC Converter (O)

8 = DC/DC Converter (O)

9-127 = Reserved

128-255 Vendor Specific

No Control

No Control

No Control

No Control

No Control

Frequency Control

PI Vector Control

PI Vector Control

PI Vector Control

Provides an axis interface to a specific feedback device as a master feedback source. The Control Mode and Control Method are set to No Control in this configuration, indicating that there is no dynamic control capability associated with this axis.

Selects the Frequency Control Method that applies voltage to the motor, generally in proportion to the commanded frequency or speed. Accordingly, the Control Mode attribute is set to Velocity Control.

Selects the PI Vector Control Method that applies feedback to provide closed loop cascaded PI control of motor position, velocity, and torque, and includes closed loop control of Iq and Id components of the motor current vector. Accordingly, the Control Mode attribute is set to Position Control.

Selects the PI Vector Control Method that applies feedback to provide closed loop cascaded PI control of motor velocity, and torque, and includes closed loop control of Iq and Id components of the motor current vector. Accordingly, the Control Mode attribute is set to Velocity Control.

Selects the PI Vector Control Method that applies feedback to provide closed loop PI control of motor torque through control of Iq and Id components of the motor current vector. Accordingly, the Control Mode attribute is set to Torque Control.

Provides an axis interface to a standalone non-regenerative power converter device. Both the Control Mode and Control Method are set to No Control in this configuration, indicating that there is no dynamic control capability associated with this axis.

Provides an axis interface to a standalone regenerative power converter device or the regenerative converter function of an integrated regenerative drive device. Both the Control Mode and Control Method are set to No Control in the configuration, indicating that there is no dynamic control capability associated with this axis.

Provides an axis interface to a standalone AC/DC low harmonic converter device, or the AC/DC converter function of an integrated low harmonic drive device that utilizes active electronics to that regulate power flow from the AC source to the DC bus. Both the Control Mode and Control Method are set to No Control in this configuration, indicating that there is no dynamic motor control capability associated with this axis.

Provides an axis interface to a class of devices that convert power between two DC sources using active electronics, or simply distribute primary DC input power to secondary DC buses. DC/DC converters with active electronics are capable of transferring energy between a primary DC bus and one or more secondary DC buses, each with different voltage levels. Both the Control Mode and Control Method are set to No Control in this configuration, indicating that there is no motor control capability associated with this axis.

Track Section provides an axis interface to the Track Section function of a Track Section device that applies force to one or more Track Movers local to the Track Section. Both the Control Mode and Control Method are set to No Control in this configuration, indicating that there is no dynamic motor control associated with this axis commanded by the controller.

* Controller Loop Back: v35

* Controller Loop Back: v35

Controller Loop Back: v35

* Controller Loop Back: v35

* Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v35

Controller Loop Back: v36

Enumeration

0 = No Control

1 = Position Control

2 = Velocity Control

3 = Acceleration Control

4 = Torque Control

5-15 = Reserved

Bits 4-7 Reserved

No Control

No Control

No Control

No Control

No Control

No Control

Velocity Control

Position Control

Velocity Control

Torque Control

No control is provided in this mode.

Controls the position, or orientation, of the motor.

Controls the velocity of the motor.

Controls the acceleration of the motor.

Controls the torque output of the motor.

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Enumeration

0 = No Control

1 = Frequency Control

2 = PI Vector Control

3-255 = Reserved

Associated with a Control Mode of No Control where there is no explicit motor control provided by the device for this axis instance.

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.

A closed loop control method that uses actual or estimated feedback for closed loop cascaded PI control of motor dynamics, for example, position, velocity, acceleration, and torque, and always includes independent closed loop PI control of Iq and Id components of the motor current vector.

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