Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System User Manual - Manual (Page 149)

Publication 1394-5.0 — May 2000
Configuring Your 1394 Analog Servo System 8-13
[Id Slope]
Determines the amount of Id current (as a
percent of motor rated) that would be required
over a 1000 rpm span. It is automatically
changed when a motor is selected by [Motor
Type].
Note: Before making modifications to Mtr Data
parameters, [Motor Type] must be set to "custom
motor".
Parameter Numbers 180, 181, 182, 183
Parameter Group Mtr Data
Display Units %/Kr
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0.0%/Kr
Maximum Value 400.0%/Kr
Default Value 70.0%/Kr
[Int Torq Ref]
This is a non-volatile torque preset that can be
used as a digital torque reference if linked to [Dig
Torq ref].
Important: Current limits will prevent [Iq Cur Ref]
from exceeding 300%.
Parameter Numbers 356, 357, 358, 359
Parameter Group Torq Data
Display Units amps
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value -400% rated motor current
Maximum Value +400% rated motor current
Default Value 0%
[Int Vel Ref]
This is a non-volatile velocity preset that can be
used as a digital velocity reference if linked to
[Vel Ref Whole]. The "sign" of this parameter is
changed by direction change requests.
Parameter Numbers 352, 353, 354, 355
Parameter Group Vel Cmd Data
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value -8000.0 rpm
Maximum Value +8000.0 rpm
Default Value 0.0 rpm
[Intg Gain Ki]
This parameter controls the integral error gain of
the velocity regulator. For example, if KI = 8, then
velocity (1000 rpm) error for 1 second will
produce a (rated motor) current torque
reference.
For Example: Use Ki to increase servo stiffness
or reduce the amount of overshoot during ramp-
up to the [Velocity Command].
Parameter Numbers 372, 373, 374, 375
Parameter Group ATune Config, AnBklsh Conf
Display Units None
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0
Maximum Value 32879
Default Value 0
[Iq Cur Ref]
This parameter displays the present level of the
Iq current reference for this axis (after all limiting
has occurred)
Parameter Numbers 232, 233, 234, 235
Parameter Group Monitor Parms, Torq data
Display Units amps
Parameter Type Read Only
Linkable No
[Jog Vel]
This is a jog velocity reference that is used when
jogging the axis. The "sign" of this parameter is
changed by direction change requests and is
automatically changed to 20% of motor rated
velocity when a motor is selected by [Motor
Type].
Parameter Numbers 348, 349, 350, 351
Parameter Group Vel Cmd Data
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value -1600.0 rpm
Maximum Value +1600.0 rpm
Default Value This is determined by the motor catalog number.