Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 182)

Publication 1746-6.1.2 - July 2000
Input/Output Quick Reference A-9
1 s = Slot number for the SLC Servo Module.
Commands Output Commands
Use the following tables to locate word 0, word 1, word 2, word 3,
word 4, and word 5 output commands.
Excess Following Error
Limit –Position Units
(Servo Loop) M0:s.38,s.39 0.0 to axis travel limit 3.0 Use this formula to calculate the value for the
Excess Following Error Parameter =
(Maximum Axis Speed) x
(% max following error)
(Maximum Axis Gain Value) (1000)
where:
% maximum following error is the percentage of
following error when the axis is at the maximum
speed you want the fault for Excess Following Error
to occur. It is expressed as a decimal value. 1000 is
gain scale factor.
For example, if Maximum Axis Gain Value is 1,
Maximum Axis Speed is 1200 ipm and the excess
following error fault occurs at 110% of the following
error at axis maximum speed, then Excess Following
Error equals:
(1200 ipm)(1.1) = 1.32 in
(1 ipm/mil)(1000 mil/in)
In-position Band –
Position Units
(Motion) M0:s.40,s.41 0.0 to axis travel limit 0.1 This parameter uses the SLC Application Program to
determine the end of move when the application
requires accurate positioning to the end point for the
move.
Typical setting = 4/counts per position unit
(as a minimum).
Maximum Axis Gain
Value – Position Units
per Minute per One
Thousandth of the
Position Unit
(Servo Loop) M0:s.42,s.43 0.0 to 10.0 1.0 Set this parameter to the maximum gain that the
axis can handle without becoming unstable. This
parameter is set up at axis integration time. Refer to
the
Setting Up Your Servo Module chapter in this
manual for more information.
Parameter Name
(Parameter Group) Destination M
File Location
1
Range Default Additional Information