Chapter 4
CIP Axis Attributes
434
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Enum.
Usage
Name
Description
1
R/C
O/F
Current Decel
and Disable
Current Decel and Disable leaves the power structure and any active
control loops enabled while stopping.
If configured for position control mode, the drive forces the position
reference to hold its current value until the axis reaches zero speed.
Once at zero speed the position reference is immediately set equal to
the actual position to hold the axis at standstill.
If in velocity control mode, the drive forces the velocity reference to
zero.
In either case, forcing the position or velocity reference signals to a
fixed value results in a rapid increase in control loop error of the
moving axis that saturates the output current of the drive to the
configured Stopping Torque that brings the motor to a stop.
In torque control mode, the drive directly applies the configured
Stopping Torque to the torque command signal to decelerate the
motor. When the velocity feedback value reaches zero speed, the
torque command is set to zero.
Once stopped, or the configured Stopping Time or factory time limit
expires, the drive disables the power structure and control loops. This
stop mode complies with the IEC-60204-1 Category 1 Stop.
In frequency control mode the Current Vector Limit attribute, rather
than the Stopping Torque attribute, is used to regulate the stopping
current.
2
O/FV
Ramped Decel
and Disable
Ramped Decel and Disable also leaves the power structure and any
active control loops enabled while stopping but uses the Ramp
Generator associated with the Velocity Fine Command Generator
block to decelerate the motor to a stop. When initiating a Ramped
Decel and Disable Stop, the Ramp Generator is immediately activated
and the drive no longer follows command from the controller. The
Ramp Generator input is initialized to zero and the output is
initialized to the current speed of the motor, thus causing the Ramp
Generator output to ramp the motor from its current speed down to
zero according to the ramp control parameters. Once stopped, or the
configured Stopping Time or factory timeout limit expires, the device
disables the power structure and control loops. This stop mode also
complies with the IEC-60204-1 Category 1 Stop.
3
O/PV
Current Decel
and Hold
Current Decel and Hold behaves like Current Decel and Disable, but
leaves the power structure active with holding torque to maintain the
stopped condition. The method for generating holding torque is left
to the drive vendor's discretion. This stop mode complies with the
IEC-60204-1 Category 2 Stop.
The Current Decel and Hold stopping action is not allowed if a Start
Inhibit condition is present. If a Start Inhibit condition is present, a
Current Decel and Disable will be initiated instead.
4
O/V
Ramped Decel
and Hold
Ramped Decel and Hold behaves like Ramped Decel and Disable, but
leaves the power structure with holding torque to maintain the
stopped condition. This stop modes also complies with the
IEC-60204-1 Category 2 Stop.
The Ramped Decel and Hold stopping action is not allowed if a Start
Inhibit condition is present. If a Start Inhibit condition is present, a
Ramped Decel and Disable will be initiated instead.
5...127
Reserved
128...255
Vendor Specific