Chapter 4
CIP Axis Attributes
370
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Bit
Name
Description
2...31
Reserved
Master Position Filter Bandwidth
Usage
Access
Data
Type
Default
Min
Max
Semantics of Values
Required - E
PV only
Set/
SSV
REAL
0
1/(4*CUP)
0
1000
(1)
1/CUP
Hertz
Valid when Master Position
Filter is enabled.
A value of 0 disables the filter.
CUP = Coarse Update Period
(1)
Minimum Range limits based on Coarse Update Period are ultimately enforced
for Master Position Filter Bandwidth attribute by clamping to limit rather than
generating a value out of range error. Only if the value is outside the fixed
Min/Max limits is an out of range error given. This was done to avoid
implementing complex range limit code based on the Coarse Update Period in the
Logix Designer application.
The Master Position Filter Bandwidth attribute controls the activity of the
single-poll low-pass filter that filters the specified master axis position input to the
slave's gearing or position camming operation. When enabled, this filter has the
effect of smoothing out the actual position signal from the master axis, and thus
smoothing out the corresponding motion of the slave axis. The trade-off for
smoothness is an increase in lag time between the response of the slave axis to
changes in motion of the master.
If the Master Position Filter is disabled, the Master Position Filter Bandwidth has
no effect.