CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
215
Torque Limit - Negative
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - C
Set/SSV
REAL
-100
FD
-10
3
0
% Motor Rated
This negative value determines the most negative torque value that can be applied
to the motor. If the device attempts to apply a more negative torque than this
limit, the torque command is clamped to this value.
Torque Rate Limit
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - C
Set/SSV
REAL
10
6
0
% Motor Rated / Sec
Limits the rate of change of the torque reference signal.
Torque Threshold
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - C
Set/SSV
REAL
90
FD
0
10
3
% Motor Rated
Specifies the threshold for the Filtered Torque Reference signal magnitude that
when exceeded, results in the Torque Threshold status bit being set.
Overtorque Limit
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Optional - D
Set/SSV
REAL
200
0
10
3
% Motor Rated
Maximum limit for the torque producing Iq Current Feedback signal magnitude.
When the Iq Current Feedback signal is greater than this value for the duration
specified by Overtorque Limit Time attribute, the result is an Overtorque Limit
exception. This feature lets the device generate an exception if there is a sudden
increase in load torque during operation. This condition could occur if a bearing
fails, a hard stop is reached, or there is some other mechanical failure.