CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
209
The Position Loop Bandwidth attribute determines the proportional gain, Kpp, of
the position loop that multiplies the Position Error signal. This value represents
the unity gain bandwidth of the position loop beyond which the position loop is
ineffective.
Position Integrator Bandwidth
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - P
Set/SSV
T REAL
0
FD
0
Loop Bandwidth Units
The Position Integrator Bandwidth attribute determines the position loop
integral gain, Kpi, which together with the Kpp, multiplies the integrated Position
Error signal. This value represents the bandwidth of the position integrator
beyond which the integrator is ineffective. A value of 0 for this attribute disables
the integrator.
Position Lock Tolerance
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - P
Set/SSV
REAL
0.01
FD
0
Position Units
The Position Lock Tolerance attribute establishes a window around the current
command position. When the actual position is within this window the Position
Lock status bit is set. When actual position falls outside this window, the Position
Lock status bit is cleared.
Position Error Tolerance
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - P
Set/SSV
REAL
0
FD
0
Position Units
The Position Error Tolerance attribute determines the absolute maximum
Position Error value that can be tolerated without causing an Excessive Position
Error exception.
Position Error Tolerance Time
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - P
Set/SSV
REAL
0
0
10
3
Sec