Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 304)

304 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives
Torque Mode
When the axis configuration is in Torque Loop, the Speed attribute within the
MDS instruction is not used to command the speed of the drive. The speed is
determined by the amount of torque specified in the CommandTorque and/or
TorqueTrim attributes.
Ramp Attributes
The MDS instruction is validated if the Integrated Motion on EtherNet/IP drive
device supports the following five ramp attributes:
• RampAcceleration
• RampDeceleration
• RampVelocity - Positive
• RampVelocity - Negative
• RampJerk - Control
IMPORTANT You must command zero torque in the CommandTorque and TorqueTrim
attributes before you use the Motion Axis Stop (MAS) instruction to stop a
specific motion process on an axis or to stop the axis completely. To use the
MAS instruction, you must set Change Decel to No. Otherwise an instruction
error can occur. The deceleration rate is set based on the Ramp Deceleration
attribute. The Motion Servo Off (MSF) instruction is used to deactivate the drive
output for the specified axis and to deactivate the axis’ servo loop. If you
execute an MSF instruction while the axis is moving, the axis coasts to an
uncontrolled stop.