CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
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Command Torque
Usage
Access
T
Data
Type
Default
Min
Max
Semantics of Values
Required - VT
Get/
SSV
T
REAL
0
-
+
% Rated
The Command Torque attribute is the commanded torque in units of percent
Rated Torque of the motor. This tag value is transferred by the Logix Processor to
a physical axis as part of an ongoing synchronous data transfer process. Unlike
Command Position, Command Velocity, and Command Acceleration, the
Command Torque attribute is not generated by the motion planner. Instead, the
value may be written directly by the application program.
Command Torque has no effect on the axis unless the axis is configured for
Torque Loop operation. In order for the this attribute's value to be applied as the
torque command, a Motion Drive Start instruction will be executed, which in turn
sets the Direct Torque Control Status bit of the Motion Status Bits attribute. If
this bit is not set, the Command Torque value has no effect on axis motion. Only
CIP Drive Axis data types currently support this capability.
Interpolated Command Position
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - E
PV only
Get/
GSV
T REAL
-
-
-
Position Units
The Interpolated Command Position attribute is the interpolation of the
commanded position, based on past axis trajectory history, at the time specified by
the Interpolation Time attribute.
Master Offset
Usage
Access
T Data
Type
Default
Min
Max
Semantics of Values
Required - FPV
PV only
Get/
GSV*
T REAL
-
-
-
Master Position Units
Tag access supported but the
value is valid only when Auto Tag
Update of the Motion Group
Object is enabled.
The Master Offset attribute is the position offset that is currently applied to the
master side of the position cam. The Master Offset is returned in master position
units. The Master Offset shows the same unwind characteristic as the position of a
linear axis. Tag access is supported but the tag value is valid only when Auto Tag
Update of the Motion Group Object is enabled