Allen-Bradley Kinetix 5500, Справочное руководство

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Chapter 4
CIP Axis Attributes
210
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
The Position Error Tolerance Time attribute determines the maximum amount of
time that the Position Error Tolerance can be exceeded without generating an
exception.
Position Lead Lag Filter Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - P Set/SSV REAL 0 0 10 4 Filter Frequency Units
The Position Lead Lag Filter Bandwidth attribute sets the pole frequency for the
position regulator Lead-Lag Filter. A value of 0 disables the filter.
Position Lead Lag Filter Gain
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - P Set/SSV REAL 0 0
The Position Lead Lag Filter Gain attribute sets the high frequency gain of the
position regulator Lead-Lag Filter. A value greater than 1 results in a lead function
and value less than 1 results in a lag function. A value of 1 disables the filter.
Position Notch Filter Frequency
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - P Set/SSV REAL 0 0 10 4 Filter Frequency Units
The Position Notch Filter Frequency attribute controls the center frequency of
the notch filter that is applied to the velocity reference signal of the velocity loop
summing junction. A value of 0 for this attribute disables this feature.
Position Integrator Control
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - P Set/SSV BYTE 0
0:0
1:0 - - Bitmap
0 = Integrator Hold Enable (R)
1 = Auto-Preset (O)
2...7 = Reserved
The Position Integrator Control attribute controls the behavior of the position
loop integrator while commanding motion through the controller. When the
integrator hold enable bit is set, the integrator is held while motion is being
commanded with a non-zero velocity. When clear, the integrator runs without