Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System User Manual - Manual (Page 147)

Publication 1394-5.0 — May 2000
Configuring Your 1394 Analog Servo System 8-11
[Droop]
This parameter is also referred to as "static gain."
It effectively acts as a very slow discharge of the
velocity loop integrator and has two uses:
•
As a component of an external position loop
system, setting this parameter to a higher, non-
zero value will eliminate servo hunting due to
load stick/slip friction effects.
•
As a deliberate "velocity droop" (secondary
drives only) in multiple-motor systems where
each drive axis is configured as a velocity loop
and the motors are mechanically coupled
together. Use of higher non-zero droop in this
case promotes load sharing.This parameter
selects the torque command source within the
drive. When operating the drive in velocity
mode, set to Velocity Mode 1 (#0). When
operating in torque mode (using S Class), set
to A/D Torque Block (#4).
This parameter selects the torque command
source within the drive. When operating the drive
in velocity mode, set to Velocity Mode 1 (#0).
When operating in torque mode (using S Class),
set to A/D Torque Block (#4).
The droop scaling is defined as that specified
droop in output rpm (i.e., velocity error) that will
result in 100% rated torque being applied by the
motor in reaction. This parameter only has effect
if [Intg Gain Ki] is not zero.
For Example: Speed regulation of 0 to 0.05%
maximum depending on optimization of system
performance settings. 3000 rpm, 0.05% = 1.5
rpm tolerance.
Parameter Numbers 380, 381, 382, 383
Parameter Group Vel Loop Data
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0.0 rpm (No Droop)
Maximum Value 15.6 rpm
Default Value 1.0 rpm
[Enabled Days]
Displays the number of days that the drive has
been enabled.
Parameter Numbers 93
Parameter Group Linear List
Display Units None
Parameter Type Read Only
Linkable No
[Enabled Minutes]
Displays the number of minutes that the drive has
presently been enabled.
Parameter Numbers 92
Parameter Group Linear List
Display Units None
Parameter Type Read Only
Linkable No
[Fdbk Pole Cnt]
The number of electrical poles on the resolver.
Note: Before making modifications to Mtr Data
parameters, [Motor Type] must be set to "custom
motor".
Parameter Numbers 400
Parameter Group Mtr Data
Display Units None
Parameter Type Read/Write
Change While Running No
Linkable No
Minimum Value 2
Maximum Value 8
Default Value This is determined by the motor catalog number.