Chapter 4
CIP Axis Attributes
214
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Sets the pole frequency for the torque reference Lead-Lag Filter. A value of 0
disables the filter.
Torque Lead Lag Filter Gain
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - C
Set/SSV
REAL
1
0
Sets the high frequency gain of the torque reference Lead-Lag Filter. A value
greater than 1 results in a lead function and value less than 1 results in a lag
function. A value of 0 results in a first order low pass filter function. A value of 1
disables the filter.
Torque Low Pass Filter Bandwidth
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - C
Set/SSV
T REAL
0
FD
0
10
4
Filter Frequency Units
Break frequency for the low pass filter applied to torque reference signal.
Torque Notch Filter Frequency
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - C
Set/SSV
REAL
0
0
10
4
Filter Frequency Units
Center frequency of the notch filter applied to the torque reference signal. A value
of 0 for this attribute disables this feature.
Torque Limit - Positive
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - C
Set/SSV
REAL
100
FD
0
10
3
% Motor Rated
This positive value determines the maximum positive torque that can be applied
to the motor. If the device attempts to exceed this value, the torque command is
clamped to this value.