Gains – Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual
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Variables and Flags Assignment and Request Commands • Gains
Publication 1398-PM601A-EN-P — October 2000
HOST
M
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Gains
Command
Description
Flag/
Variable
Read/
Write
Personality
Module
FGAIN
Acceleration feedforward gain
V
R/W
Y
#
FILTEN
TRUE to enable the velocity loop filter
F
R/W
Y
#
FILTER or FIL
Velocity loop filter value
V
R/W
Y
#
IGAIN
Integral gain for the velocity loop
V
R/W
Y
#
IZONE
Region where KI has effect
V
R/W
Y
#
KFF
Velocity feedforward gain
V
R/W
Y
#
KI
Integral gain for the position loop
V
R/W
Y
#
KP
Proportional gain for the position loop
V
R/W
Y
#
KPZ
Proportional gain used within the PZONE
V
R/W
Y
#
MXFGAIN
Maximum FGAIN
V
R
Y
MXFILTER
Maximum FILTER
V
R
Y
MXIGAIN
Maximum IGAIN
V
R
Y
MXKFF
Maximum KFF
V
R
Y
MXKI
Maximum KI
V
R
Y
MXKP
Maximum KP
V
R
Y
MXPGAIN
Maximum PGAIN
V
R
Y
PGAIN
Proportional gain for the velocity loop
V
R/W
Y
#
PZONE
Region where KPZ is used instead of KP
V
R/W
Y
#