Allen-Bradley Kinetix 5500, Reference Manual, Page: 211 / 497

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
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qualification. When the auto-preset bit is set, the integrator preload value is
automatically loaded with the current velocity command when there is a control
mode change between velocity control and position control. If clear, the integrator
is loaded with the configured position integrator preload value.
Position Integrator Preload
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - P Set/SSV REAL 0 0 Velocity Units
The Position Integrator Preload attribute is a value assigned to the position
integrator when the position control loop is enabled.
See also
Position Loop Attributes on page 206
Position Control Mode on page 17
CIP Axis Attributes on page 185
These are the torque/force control configuration attributes associated with a
Motion Control Axis.
Torque Offset
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - C Set/SSV REAL 0 -100 +100 % Motor Rated
The Torque Offset attribute provides a torque bias when performing closed loop
control. This value is summed together with the Torque Trim value which is sent
synchronously to the drive every connection update. Since the Torque Trim value
is available as a tag value, real time torque corrections are done using the Torque
Trim attribute. For the Torque Offset value to have effect, Torque Trim must be
selected for Cyclic Write.
System Inertia
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV
Optional - T
Set/SSV T REAL 0
FD 0
% Motor Rated / (Motor
Units/Sec
2
)
Torque/Force Control
Configuration Attributes