Document Outline

• 1784-UM003A-EN-P, SoftLogix Motion Card Setup and Configuration Manual
• Important User Information
• European Communities (EC) Directive Compliance
  • EMC Directive
  • Low Voltage Directive
• Preface
  • Using This Manual
  • Who Should Use This Manual
  • The Purpose of This Manual
  • Related Documentation
  • Rockwell Automation Support
    • Local Product Support
    • Technical Product Assistance
  • On the Web
• Chapter 1
  • The SoftLogix Motion Control System
  • SoftLogix Motion Control
  • Components of the SoftLogix Motion System
    • SoftLogix Chassis Monitor
    • The SoftLogix Controller
    • The Analog/Encoder Servo Module (1784-PMO2AE)
    • The 16 Axis SERCOS interface Module (1784-PM16SE)
    • RSLogix 5000 Programming Software
  • Developing a Motion Control Application Program
    • Application Program Development
    • The MOTION_INSTRUCTION Tag
    • Motion Status and Configuration Parameters
    • Modifying Motion Configuration Parameters
    • Handling Motion Faults
      • Errors
      • Minor/Major Faults
• Chapter 2
  • SoftLogix Controller
  • Introduction
  • Accessing the New Controller Dialog
    • New Controller Dialog
      • Vendor
      • Type
      • Redundancy Enabled
      • Name
      • Description
      • Chassis Type
      • Slot Number
      • Revision
      • Create In:
      • Browse
  • Editing Controller Properties
    • General Tab
    • Vendor
    • Type
    • Name
    • Description
    • Chassis Type
    • Slot
    • Revision
    • Change Type
    • Change Controller Type Dialog Box Overview
      • Select a processor to change to
    • Serial Port Tab
      • Mode
      • Baud Rate
      • Data Bits
      • Parity
      • Stop Bits
      • Control Line
      • Continuous Carrier
      • RTS Send Delay
      • RTS Off Delay
    • System Protocol Tab
      • Common Parameters
      • Protocol
      • Station Address
      • Error Detection
      • Enable Duplicate Detection
      • ACK Timeout
      • DF1 Point to Point Parameters
        • ENQ Transmit Limit
        • NAK Receive Limit
        • Embedded Responses
      • DF1 Slave Parameters
        • Transmit Retries
        • Slave Poll Timeout
        • EOT Suppression
      • DF1 Master Parameters
        • Transmit Retries
        • Reply Message Wait
        • Polling Mode
        • Master Transmit
      • Normal Poll Node Tag
      • Normal Poll Group Size
      • Priority Poll Node Tag
      • Active Station Tag
      • DH485 Parameters
        • Max Station Address
      • Token Hold Factor
    • User Protocol Tab
      • Protocol
      • Buffer Size
      • Termination Character 1 and 2
      • Append Character 1 and 2
      • XON/OFF
      • Echo Mode
      • Delete Mode
    • Major Faults Tab
      • Number of Major Faults Since Last Cleared
      • Recent Faults
      • Clear Majors
    • Minor Faults Tab
      • Number of Minor Faults Since Last Cleared
      • Recent Faults
      • Clear Minors
      • Fault Bits
    • Date/Time Tab
      • Date
      • Time
      • Set
      • Make this controller the Coordinated System Time master
      • Status
    • Advanced Tab
      • Memory Used
      • Memory Unused
      • Memory Total
      • Controller Fault Handler
      • Power-Up Handler
      • System Overhead Time Slice
    • SFC Execution Tab
      • Execution Control
      • Restart Position
      • Last Scan of Active Steps
    • File Tab
      • Name
      • Path
      • Created
      • Edited
    • Redundancy Tab
      • Redundancy Enabled
      • Redundancy Status
      • Partner Status
      • Partner Minor Faults
      • Advanced Button
      • Retain Test Edits on Switchover
      • Memory Usage
    • Nonvolatile Memory Tab
      • Name
      • Type
      • Revision
      • Load Image
      • Load Mode
      • Image Note
      • Stored
      • Load/Store
• Chapter 3
  • Adding and Configuring Your 1784-PM02AE Motion Module
  • Adding the 1784-PM02AE Module
    • New Module
      • Type
      • Major Revision
      • Type (list box)
      • Description (list box)
      • Show
      • Select All
      • Clear All
  • Editing Your Motion Module Settings
    • General Tab
      • Type
      • Vendor
      • Name
      • Description
      • Slot
      • Revision
      • Electronic Keying
    • Connection Tab
      • Requested Packet Interval
      • Inhibit Module checkbox
      • Major Fault on Controller if Connection Fails checkbox
      • Module Fault
    • Associated Axes Tab
      • Servo Update Period
      • Channel 0
      • Channel 1
      • New Axis button
    • Module Info Tab
      • Identification
      • Major/Minor Fault Status
      • Internal State Status
      • Configured
      • Owned
      • Module Identity
      • Refresh
      • Reset Module
  • Assigning Additional Motion Modules
• Chapter 4
  • Configuring the1784-PM16SE Card
  • Adding the 1784-PM16SE
  • SERCOS interface Motion Card Overview
  • Editing 1784-PM16SE Card Properties
    • General Tab
      • Type
      • Vendor
      • Name
      • Description
      • Slot
      • Revision
      • Electronic Keying
    • Connection Tab
      • Requested Packet Interval
      • Inhibit Module checkbox
      • Major Fault on Controller if Connection Fails checkbox
      • Module Fault
    • SERCOS Interface Tab
      • Data Rate
      • Cycle Time
      • Transmit Power
    • SERCOS Interface Info Tab
      • Ring Comm. Phase
      • Fault Type
      • Refresh
    • Module Info Tab
      • Identification
      • Major/Minor Fault Status
      • Internal State Status
      • Configured
      • Owned
      • Module Identity
      • Refresh
      • Reset Module
• Chapter 5
  • The Motion Group
  • Creating A Motion Group
  • Editing the Motion Group Properties
    • Axis Assignment Tab
      • Unassigned
      • Assigned
      • Add
      • Remove
    • Attribute Tab
      • Coarse Update Period
      • Auto Tag Update
      • General Fault Type
      • Scan Times (elapsed time)
      • Reset Max
    • Tag Tab
      • Name
      • Description
      • Tag Type (read-only)
      • Data Type (read-only)
      • Scope
      • Style
      • Produce this tag for up to
      • Base Tag
• Chapter 6
  • Naming & Configuring Your Motion Axis
  • Naming an Axis
    • Entering Tag Information
      • Common Parameters
      • Name
      • Description
      • Tag Type
      • Data Type
  • Editing Motion Axis Properties
    • General Tab - AXIS_SERVO
      • Axis Configuration
      • Assigned Motion Group
      • Ellipsis (…) button
      • New Group button
      • Module
      • Module Type
      • Channel
    • General Tab - AXIS_SERVO_DRIVE
      • Axis Configuration
      • Assigned Motion Group
      • Ellipsis (…) button
      • New Group button
      • Module
      • Module Type
      • Node
    • General Tab - AXIS_VIRTUAL
      • Assigned Motion Group
      • Ellipsis (…) button
      • New Group button
      • Motion Planner Tab
      • Output Cam Execution Targets
      • Program Stop Action
      • Master Delay Compensation Checkbox
      • Enable Master Position Filter Checkbox
      • Master Position Filter Bandwidth
    • Units Tab
      • Position Units
      • Average Velocity Timebase
    • Servo Tab - AXIS_SERVO
      • External Drive Configuration
      • Loop Configuration
      • Enable Drive Fault Input
      • Drive Fault Input
      • Real Time Axis Information
      • Attribute 1/Attribute 2
    • Feedback Tab - (AXIS_SERVO)
      • Feedback Type
    • Drive/Motor Tab - (AXIS_SERVO_DRIVE)
      • Amplifier Catalog Number
      • Catalog Number
      • Loop Configuration
      • Drive Resolution
      • Real Time Axis Information
      • Attribute 1/Attribute 2
      • Change Catalog…button
      • Catalog Number
      • Filters
        • Voltage
        • Family
        • Feedback Type
    • Motor Feedback Tab - AXIS_SERVO_DRIVE
      • Feedback Type
      • Cycles
      • Per
      • Interpolation Factor
    • Aux Feedback Tab - AXIS_SERVO_DRIVE
      • Feedback Type
      • Cycles
      • Per
      • Interpolation Factor
      • Feedback Ratio
    • Conversion Tab
      • Positioning Mode
      • Conversion Constant
      • Position Unwind
    • Homing Tab - AXIS_SERVO and AXIS_SERVO_DRIVE
      • Mode
      • Position
      • Offset
      • Sequence
      • Limit Switch
      • Direction
      • Speed
      • Return Speed
      • Homing Configurations
    • Homing Tab - AXIS_VIRTUAL
      • Mode
      • Position
      • Sequence
    • Hookup Tab - (AXIS_SERVO)
      • Test Increment
      • Feedback Polarity
      • Output Polarity
      • Test Marker
      • Test Feedback
      • Test Output & Feedback
    • Hookup Tab - AXIS_SERVO_DRIVE
      • Test Increment
      • Drive Polarity
      • Test Marker
      • Test Feedback
      • Test Command & Feedback
    • Tune Tab - AXIS_SERVO, AXIS_SERVO_DRIVE
      • Travel Limit
      • Speed
      • Torque
      • Direction
      • Damping Factor
      • Tune
      • Start Tuning
    • Dynamics Tab
      • Maximum Velocity
      • Maximum Acceleration
      • Maximum Deceleration
      • Manual Adjust
    • Gains Tab - AXIS_SERVO
      • Velocity Feedforward
      • Acceleration Feedforward
      • Proportional (Position) Gain
      • Integral (Position) Gain
      • Proportional (Velocity) Gain
      • Integral (Velocity) Gain
      • Integrator Hold
      • Manual Adjust
    • Gains Tab - AXIS_SERVO_DRIVE
      • Velocity Feedforward
      • Acceleration Feedforward
      • Proportional (Position) Gain
      • Integral (Position) Gain
      • Proportional (Velocity) Gain
      • Integral (Velocity) Gain
      • Integrator Hold
      • Manual Adjust
      • Set Custom Gains
      • Attribute
    • Output Tab - AXIS_SERVO
      • Velocity Scaling
      • Torque Scaling
      • Enable Low-pass Output Filter
      • Low-pass Output Filter Bandwidth
      • Manual Adjust
    • Output Tab (AXIS_SERVO_DRIVE)
      • Torque Scaling
      • Enable Notch Filter
      • Notch Filter
      • Enable Low-pass Output Filter
      • Low-pass Output Filter Bandwidth
      • Manual Adjust
    • Limits Tab - AXIS_SERVO
      • Soft Travel Limits
      • Maximum Positive
      • Maximum Negative
      • Position Error Tolerance
      • Position Lock Tolerance
      • Output Limit
      • Manual Adjust
    • Limits Tab - AXIS_SERVO_DRIVE
      • Hard Travel Limits
      • Soft Travel Limits
      • Maximum Positive
      • Maximum Negative
      • Position Error Tolerance
      • Position Lock Tolerance
      • Manual Adjust
      • Set Custom Limits
      • Attributes
    • Offset Tab - AXIS_SERVO
      • Friction Compensation
      • Velocity Offset
      • Torque Offset
      • Output Offset
      • Manual Adjust
    • Offset Tab - AXIS_SERVO_DRIVE
      • Friction Compensation
      • Velocity Offset
      • Torque Offset
      • Manual Adjust
    • Fault Actions Tab - AXIS_SERVO
      • Drive Fault
      • Feedback Noise
      • Feedback Loss
      • Position Error
      • Soft Overtravel
    • Fault Actions Tab - AXIS_SERVO_DRIVE
      • Drive Thermal
      • Motor Thermal
      • Feedback Noise
      • Feedback
      • Position Error
      • Hard Overtravel
      • Soft Overtravel
      • Set Custom Stop Action
      • Attributes
    • Tag Tab
      • Name
      • Description
      • Tag Type
      • Data Type
      • Scope
      • Style
  • Assigning Additional Motion Axes
• Chapter 7
  • Creating & Configuring Your Coordinate System Tag
  • Introduction
  • Creating a Coordinate System
    • Entering Tag Information
      • New Tag Parameters
      • Name
      • Description
      • Tag Type
      • Alias For:
      • Data Type
      • Scope
      • Style
    • Coordinate System Wizard Screens
      • General Wizard Screen
      • Units Wizard Screen
      • Dynamics Wizard Screen
      • Manual Adjust Button
      • Tag Wizard Screen
  • Editing Coordinate System Properties
    • General Tab
      • Motion Group
      • Ellipsis (…) button
      • New Group button
      • Type
      • Dimension
      • Axis Grid
        • [ ] (Brackets)
        • Coordinate
        • Axis Name
        • Ellipsis Button (...)
        • Coordination Mode
      • Enable Coordinate System Auto Tag Update
    • Units Tab
      • Coordination Units
      • Axis Grid
        • Axis Name
        • Conversion Ratio
        • Conversion Ratio Units
    • Dynamics Tab
      • Vector Box
        • Maximum Speed
        • Maximum Acceleration
        • Maximum Deceleration
      • Position Tolerance Box
        • Actual
        • Command
      • Manual Adjust Button
    • Dynamics Tab Manual Adjust
      • Reset Button
    • Tag Tab
      • Name
      • Description
      • Tag Type
      • Data Type
      • Scope
      • Style
  • Right Mouse Click Properties
    • Cut, Copy, Paste, and Delete Behavior
      • Copy/Paste
      • Cut/Paste
      • Delete
• Chapter 8
  • Configuring a 1394x-SJTxx-D Digital Servo Drive
  • 1394x-SJTxx-D Digital Servo Drive Overview
    • General Tab
      • Type
      • Vendor
      • Name
      • Description
      • Base Node
      • Revision
      • Electronic Keying
    • Connection Tab
      • Requested Packet Interval
      • Inhibit Module Checkbox
      • Major Fault on Controller if Connection Fails Checkbox
      • Module Fault
    • Associated Axes Tab
      • Node X0
      • Node X1
      • Node X2
      • Node X3
      • New Axis button
    • Power Tab
      • Bus Regulator ID
    • Module Info tab
      • Identification
      • Product Name
      • Major/Minor Fault Status
      • Internal State Status
      • (16#xxxx) unknown
      • Configured
      • Owned
      • Module Identity
      • Refresh
      • Reset Module
• Chapter 9
  • Configuring an Ultra 3000 Drive
  • Editing the Ultra Drive Properties
    • General Tab
      • Type
      • Vendor
      • Name
      • Description
      • Node
      • Revision
      • Slot
      • Electronic Keying
      • Status
    • Connection Tab
      • Requested Packet Interval
      • Inhibit Module
      • Major Fault on Controller if Connection Fails checkbox
      • Module Fault
    • Associated Axes Tab (Ultra3000 Drives)
      • Node
      • Ellipsis (...)
      • New Axis
    • Power Tab - Ultra Drive
      • Bus Regulator ID
      • Module Info Tab
      • Identification
      • Major/Minor Fault Status
      • Internal State Status
      • Configured
      • Owned
      • Module Identity
      • Reset Module
      • Refresh
• Chapter 10
  • Configuring a Kinetix 6000 Drive
  • Editing the Kinetix Drive Properties
    • General Tab
      • Type
      • Vendor
      • Name
      • Description
      • Node
      • Revision
      • Electronic Keying
      • Status
    • Connection Tab
      • Requested Packet Interval
      • Inhibit Module
      • Major Fault on Controller if Connection Fails checkbox
      • Module Fault
    • Associated Axes Tab (Kinetix 6000 Drives)
      • Node
      • Ellipsis (...)
      • New Axis
    • Power Tab - Kinetix Drive
      • Bus Regulator Catalog Number
      • Module Info Tab
      • Identification
      • Major/Minor Fault Status
      • Internal State Status
      • Configured
      • Owned
      • Module Identity
      • Reset Module
      • Refresh
• Chapter 11
  • Configuring an 8720MC Drive
  • Editing the 8720MC Drive Properties
    • General Tab
      • Type
      • Vendor
      • Name
      • Description
      • Node
      • Revision
      • Electronic Keying
      • Status
    • Connection Tab
      • Requested Packet Interval
      • Inhibit Module
      • Major Fault on Controller if Connection Fails checkbox
      • Module Fault
    • Associated Axes Tab (8720MC Drives)
      • Node
      • Ellipsis (...)
      • New Axis
    • Power Tab - 8720MC Drive
      • Bus Regulator ID
      • Module Info Tab
      • Identification
      • Major/Minor Fault Status
      • Internal State Status
      • Configured
      • Owned
      • Module Identity
      • Reset Module
      • Refresh
• Chapter 12
  • Motion Instructions
  • Motion State Instructions
  • Motion Move Instructions
  • Motion Group Instructions
  • Motion Event Instructions
  • Motion Configuration Instructions
  • Motion Coordinated Move Instructions
  • Motion Direct Commands
  • Accessing Direct Commands
    • From the Main Menu
    • From Group in the Controller Organizer
    • From Axis in the Controller Organizer
  • Supported Commands
    • Motion State
    • Motion Move
    • Motion Group
    • Motion Event
  • Motion Direct Command Dialog
    • Motion Direct Command Dialog On-line
• Chapter 13
  • Motion Object Attributes
  • Object Support Attributes
    • Axis Instance
    • Group Instance
    • Map Instance
    • Module Channel
    • Module Class Code
    • C2C Map Instance
    • C2C Connection Instance
    • Memory Use
    • Memory Usage
    • Axis Data Type
    • Axis Configuration State
    • Axis State
    • Output Cam Execution Targets
  • Motion Object Status Attributes
  • Motion Status Attributes
    • Actual Position
    • Command Position
    • Strobe Position
    • Start Position
    • Average Velocity
    • Actual Velocity
    • Command Velocity
    • Actual Acceleration
    • Command Acceleration
    • Watch Position
    • Registration Position
    • Registration Time
    • Interpolation Time
    • Interpolated Actual Position
    • Interpolated Command Position
    • Master Offset
    • Strobe Master Offset
    • Start Master Offset
  • Motion Status Bit Attributes
    • Motion Status Bits
      • Acceleration/Deceleration Status
      • Move Status
      • Jog Status
      • Gearing Status
      • Homing Status
      • Stopping Status
      • Homed Status
      • Position Cam Status
      • Time Cam Status
      • Position Cam Pending Status
      • Time Cam Pending Status
      • Gearing Lock Status
      • Position Cam Lock Status
      • Master Offset Move Status
    • Axis Status Bit Attributes
      • Servo Action Status
      • Drive Enable Status
      • Shutdown Status
      • Configuration Update in Process
    • Axis Fault Bit Attributes
      • Physical Axis Fault
      • Module Fault
      • Configuration Fault
    • Module Fault Bit Attribute
      • Control Sync Fault
    • Axis Event Bit Attributes
      • Watch Event Armed Status
      • Watch Event Status
      • Registration 1 Event Armed Status
      • Registration 1 Event Status
      • Registration 2 Event Armed Status
      • Registration 2 Event Status
      • Home Event Armed Status
      • Home Event Status
    • Output Cam Status
    • Output Cam Pending Status
    • Output Cam Lock Status
    • Output Cam Transition Status
  • Motion Object Configuration Attributes
  • Motion Unit Configuration Attributes
    • Average Velocity Timebase
  • Motion Conversion Configuration
    • Conversion Constant
    • Rotary Axis
    • Position Unwind
  • Motion Homing Configuration
    • Home Mode
      • Active
      • Passive
      • Absolute
    • Home Sequence and Home Direction
      • Active Homing
      • Active Immediate Home
      • Active Bi-directional Home with Switch
      • Active Bi-directional Home with Marker
      • Active Bi-directional Home with Switch then Marker
      • Active Uni-directional Home with Switch
      • Active Uni-directional Home with Marker
      • Active Uni-directional Home with Switch then Marker
      • Passive Homing
      • Passive Immediate Home
      • Passive Home with Switch
      • Passive Home with Marker
      • Passive Home with Switch then Marker
    • Home Configuration Bits
      • Home Switch Normally Closed
    • Home Position
    • Home Offset
    • Home Speed
    • Home Return Speed
  • Motion Dynamics Configuration
    • Maximum Speed
    • Maximum Acceleration/Deceleration
    • Programmed Stop Mode
      • Fast Stop
      • Fast Disable
      • Hard Disable
      • Fast Shutdown
      • Hard Shutdown
  • Servo Status Attributes
    • Servo Status Attributes
    • Position Command
    • Position Feedback
    • Aux Position Feedback
    • Position Error
    • Position Integrator Error
    • Velocity Command
    • Velocity Feedback
    • Velocity Error
    • Velocity Integrator Error
    • Acceleration Command
    • Acceleration Feedback
    • Servo Output Level
    • Marker Distance
  • Servo Status Bit Attributes
    • Servo Status Bit Attributes
      • Servo Action Status
      • Drive Enable Status
      • Shutdown Status
      • Process Status
      • Output Limit Status
      • Position Lock Status
      • Home Input Status
      • Registration 1/2 Input Status
      • Positive Overtravel Input Status
      • Negative Overtravel Input Status
    • Axis Control Bit Attributes
      • Abort Process Request
      • Shutdown Request
      • Zero DAC Request
      • Abort Home Request
      • Abort Event Request
      • Change Cmd Reference
    • Axis Response Bit Attributes
      • Abort Process Acknowledge
      • Shutdown Request Acknowledge
      • Zero DAC Request Acknowledge
      • Abort Home Acknowledge
      • Abort Event Acknowledge
      • Change Position Reference
    • Servo Fault Bit Attributes
      • Positive/Negative Soft Overtravel Status
      • Positive/Negative Hardware Overtravel Faults
      • Feedback Loss Fault
      • Feedback Noise Fault
      • Position Error Fault
      • Drive Fault
    • Module Fault Bit Attributes
      • Control Sync Fault
      • Module Sync Fault
      • Timer Event Fault
      • Module Hardware Fault
    • Attribute Error Code
    • Attribute Error ID
  • Commissioning Status Attributes
    • Test Status
    • Test Direction Forward
    • Tune Status
    • Tune Acceleration/Deceleration Time
    • Tune Acceleration/Deceleration
    • Tune Speed Scaling
    • Tune Rise Time
    • Tune Inertia
  • Servo Configuration Attributes
    • Servo Configuration
    • Axis Type
    • Servo Loop Configuration
    • External Drive Type
    • Fault Configuration Bits
      • Soft Overtravel Checking
      • Hard Overtravel Checking
      • Drive Fault Checking
      • Drive Fault Normally Closed
    • Axis Info Select
    • Servo Polarity Bits
      • Feedback Polarity Negative
      • Servo Polarity Negative
    • Servo Loop Block Diagrams
    • Position Servo with Torque Servo Drive
    • Velocity Servo with Torque Servo Drive
    • Position Servo with Velocity Servo Drive
    • Velocity Servo with Velocity Servo Drive
    • Servo Gains
    • Velocity Feedforward Gain
    • Acceleration Feedforward Gain
    • Position Proportional Gain
      • Loop Gain Method
      • Bandwidth Method
      • Maximum Bandwidth
    • Position Integral Gain
    • Velocity Proportional Gain
      • Maximum Bandwidth
    • Velocity Integral Gain
    • Velocity Scaling
    • Torque Scaling
    • Output LP Filter Bandwidth
    • Integrator Hold Enable
  • Servo Limits
    • Maximum Positive/Negative Travel
    • Position Error Tolerance
    • Position Lock Tolerance
    • Output Limit
  • Servo Offsets
    • Friction Compensation
    • Velocity Offset
    • Torque Offset
    • Output Offset
  • Servo Fault Configuration
    • Servo Fault Actions
      • Shutdown
      • Disable Drive
      • Stop Command
      • Status Only
  • Commissioning Configuration Attributes
    • Test Increment
    • Tuning Travel Limit
    • Tuning Speed
    • Tuning Torque
    • Damping Factor
    • Drive Model Time Constant
    • Velocity Servo Bandwidth
    • Position Servo Bandwidth
    • Tuning Configuration Bits
      • Tuning Direction Reverse
      • Tune Position Error Integrator
      • Tune Velocity Error Integrator
      • Tune Velocity Feedforward
      • Tune Acceleration Feedforward
      • Tune Output Low-Pass Filter
  • Servo Drive Status Attributes
    • Drive Status Attributes
    • Position Command
    • Position Feedback
    • Aux Position Feedback
    • Position Error
    • Position Integrator Error
    • Velocity Error
    • Velocity Integrator Error
    • Velocity Command
    • Velocity Feedback
    • Acceleration Command
    • Acceleration Feedback
    • Marker Distance
    • Torque Command
    • Torque Feedback
    • Pos./Neg. Dynamic Torque Limit
    • Motor Capacity
    • Drive Capacity
    • Power Capacity
    • Bus Regulator Capacity
    • Motor Electrical Degrees
    • DC Bus Voltage
    • Torque Limit Source
    • Drive Status Bit Attributes
      • Servo Action Status
      • Drive Enable Status
      • Shutdown Status
      • Process Status
      • Home Input Status
      • Registration 1/2 Input Status
      • Positive Overtravel Input Status
      • Negative Overtravel Input Status
      • Enable Input Status
      • Acceleration Limit Status
      • Absolute Reference Status
      • Velocity Lock Status
      • Velocity Standstill Status
      • Velocity Threshold
      • Torque Limit Status
      • Velocity Limit Status
      • Position Lock Status
      • Power Limit Status
    • Axis Control Bit Attributes
      • Abort Process
      • Shutdown Request
      • Abort Home Request
      • Abort Event Request
      • Change Cmd Reference
    • Axis Response Bit Attributes
      • Abort Process Acknowledge
      • Shutdown Request Acknowledge
      • Abort Home Acknowledge
      • Abort Event Acknowledge
      • Change Pos Reference
    • Drive Fault Bit Attributes
      • Positive/Negative Software Overtravel Faults
      • Positive/Negative Hardware Overtravel Faults
      • Position Error Fault
      • Feedback 1 or Feedback 2 Fault
      • Feedback 1 or Feedback 2 Noise Fault
      • Ground Short Fault
      • Drive Hardware Fault
      • Overspeed Fault
      • Overload Fault
      • Drive Overtemperature Fault
      • Motor Overtemperature Fault
      • Drive Cooling Fault
      • Drive Control Voltage Fault
      • Feedback Fault
      • Commutation Fault
      • Drive Overcurrent Fault
      • Drive Overvoltage Fault
      • Drive Undervoltage Fault
      • Power Phase Loss Fault
      • SERCOS Fault
    • Module Fault Bit Attributes
      • Control Sync Fault
      • Module Sync Fault
      • Timer Event Fault
      • Module Hardware Fault
      • SERCOS Ring Fault
    • Drive Warning Bit Attributes
      • Overload Warning
      • Drive Overtemperature Warning
      • Motor Overtemperature Warning
      • Cooling Error Warning
    • Attribute Error Code
    • Attribute Error ID
    • SERCOS Error Code
  • Commissioning Status Attributes
    • Test Status
    • Test Direction Forward
    • Tune Status
    • Tune Acceleration/Deceleration Time
    • Tune Acceleration/Deceleration
    • Tune Inertia
  • Servo Drive Configuration Attributes
    • Drive Configuration
    • Drive Axis ID
    • Axis Type
    • Servo Loop Configuration
    • Advanced Servo Configuration Attributes
    • Fault Configuration Bits
      • Soft Overtravel Checking
      • Hard Overtravel Checking
    • Drive Scaling Bits
      • Custom Scaling
    • Advanced Scaling Attributes
      • Rotational Position Resolution
    • Drive Polarity
      • Custom Polarity
      • Positive/Negative Polarity
    • Advanced Polarity Attributes
    • Axis Info Select
  • Motor and Feedback Configuration
    • Motor ID
    • Motor Data
    • Feedback Type
    • Feedback Resolution
    • Aux Feedback Ratio
    • Advanced Feedback Attributes
  • Servo Loop Block Diagrams
    • Motor Position Servo
    • Auxiliary Position Servo
    • Dual Position Servo
    • Motor Dual Command Servo
    • Auxiliary Dual Command Servo
    • Velocity Servo
    • Torque Servo
    • Drive Gains
    • Position Proportional Gain
      • Loop Gain Method
      • Bandwidth Method
      • Maximum Bandwidth
    • Position Integral Gain
    • Velocity Feedforward Gain
    • Acceleration Feedforward Gain
    • Velocity Proportional Gain
      • Maximum Bandwidth
    • Velocity Integral Gain
    • Output LP Filter Bandwidth
    • Output Notch Filter Frequency
    • Torque Scaling
    • Integrator Hold Enable
    • Advanced Drive Gain Attributes
  • Drive Limits
    • Maximum Positive/Negative Travel
    • Position Error Tolerance
    • Position Lock Tolerance
    • Advanced Drive Limits
  • Drive Offsets
    • Friction Compensation
    • Velocity Offset
    • Torque Offset
  • Drive Fault Actions
    • Shutdown
    • Disable Drive
    • Stop Command
    • Status Only
    • Advanced Stop Action Attributes
    • Brake Engage Delay
    • Brake Release Delay
  • Drive Power Attributes
    • Power Supply ID
    • Bus Regulator ID
  • Commissioning Configuration Attributes
    • Test Increment
    • Tuning Travel Limit
    • Tuning Speed
    • Tuning Torque
    • Damping Factor
    • Drive Model Time Constant
    • Velocity Servo Bandwidth
    • Position Servo Bandwidth
    • Tuning Configuration Bits
      • Tuning Direction Reverse
      • Tune Position Error Integrator
      • Tune Velocity Error Integrator
      • Tune Velocity Feedforward
      • Tune Acceleration Feedforward
      • Tune Output Low-Pass Filter
• Chapter 14
  • Troubleshooting
  • 1784-PM02AE LED Indicator
    • Status LED
  • SERCOS interface LED Indicators
    • Checking the LED Indicators
    • The OK LED
      • Card Status Using the OK Indicator
    • The SERCOS Ring Status LED
      • SERCOS Ring Status
    • The Communication Phase LED
      • SERCOS Communication Phase Status Using the CP Indicator
• Appendix A
  • Specifications and Performance
  • 1784-PM02AE Motion Card Specifications
  • 1784-M16SE Motion Card Specifications
• Appendix B
  • Wiring Diagrams
  • About Block Diagrams
    • Using a 1784-PM02AE Module With a Torque Servo Drive
    • Using a 1784-PM02AE Module With a Velocity Servo Drive
  • Wiring Diagrams
    • 1784-PM02AE Termination Panel
      • P1
      • P2
      • P3 and P4
      • 1784-PM02AE-TP0x Cable
    • Pinouts for Cable 1784-PM02AE-TP0x
      • Sync Cable
    • 1398 to Termination Panel Wiring Diagram
• Index
• Back Cover