Allen-Bradley Kinetix 5500, Reference Manual, Page: 208 / 497

Chapter 4
CIP Axis Attributes
208
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Position Integrator Output
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Get/GSV T REAL - - - Velocity Units
The Position Integrator Output attribute is the output of position integrator
representing the contribution of the position integrator to Position Loop Output.
Position Loop Output
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Get/GSV T REAL - - - Velocity Units
The Position Loop Output attribute is the output of the position loop forward
path representing the total control effort of the position loop.
See also
Position Control Mode on page 17
Position Loop Configuration Attributes on page 208
CIP Axis Attributes on page 185
These are the position loop configuration attributes associated with a Motion
Control Axis.
Velocity Feedforward Gain
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Set/SSV REAL 0 0 %
The Velocity Feedforward Gain attribute multiplies the Velocity Feedforward
Command signal to form the Velocity Feedforward Command that is applied to
the velocity loop summing junction.
Position Loop Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Set/SSV T REAL 100
FD 0 Loop Bandwidth Units
Position Loop Configuration
Attributes