Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System User Manual - Manual (Page 162)

Publication 1394-5.0 — May 2000
8-26 Configuring Your 1394 Analog Servo System
[Enble Input Mode]
This parameter specifies whether the hardware
enable signals are used on the wiring board for
input. If configured as Not Used, the HIM or
SCANport device will provide the enable signal
for the axis.
Parameter Numbers 24
Parameter Group Setup
Display Units None
Parameter Type Read/Write
Change While Running Yes
Linkable No
Default Value 0 "Used"
Selections 0 "Used"
1 "Not Used"
[Vel Command]
Present velocity command for the axis (after all
limiting has occurred).
Parameter Numbers 220, 221, 222, 223
Parameter Group Monitor Parms, Vel Cmd Data
Display Units rpm
Parameter Type Read Only
Linkable No
[Vel Damp Sel]
This parameter is associated with the auto tune
function and specifies the velocity damping
desired by the user. The auto tuning procedure
calculates a new set of Velocity Loop Gains and
a new Current Rate Limit when the user initiates
the Auto Tune Calculate function.
Parameter Numbers 256, 257, 258, 259
Parameter Group ATune Config
Display Units None
Parameter Type Read/Write
Change While Running Yes
Linkable No
Default Value 0 "Zeta=0.87"
Selections 0 "Zeta=0.87" Underdamped
1 "Zeta=1.00" Critically Damped
2 "Zeta=0.70" Underdamped
3 "Zeta=1.40" Overdamped
[Vel Feedback]
Present velocity feedback for the axis (after all
filtering has occurred).
Parameter Numbers 224, 225, 226, 227
Parameter Group Monitor Parms, Vel Cmd Data
Display Units rpm
Parameter Type Read Only
Linkable No
[Vel Lim]
This parameter automatically changes both
[CW/CCW Vel Lim] to the same value. (for
convenience during commissioning).
Parameter Numbers 120, 121, 122, 123
Parameter Group Velocity Cmd Data
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0.0 rpm
Maximum Value 8000.0 rpm
Default Value This is determined by the motor catalog number.
[Vel LowPas BW]
Specifies the single pole low pass velocity
feedback filter bandwidth. A value of 0 disables
the filter.
Parameter Numbers 140, 141, 142, 143
Parameter Group Vel Loop Tune
Display Units Hz
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0 Hz
Maximum Value 1500 Hz
Default Value 0 Hz