Rockwell Automation 2098-DSD-xxx Ultra3000 Digital Servo Drives with DeviceNet - Manual (Page 86)

Publication 2098-RM004A-EN-P – August 2002
2-70 Programming Reference
107 Set Velocity Error
Time UINT 2 mSec The minimum time which the velocity error must be
greater than the Velocity Error Limit to cause a
Velocity Error Fault.
Range: 0 to 65535
Default: 1000
108 Set Position Error
Limit UDINT 4 Cnts The minimum position error which triggers the
Following Error fault.
Range: 0 to 0x7fffffff
Default: 8000
109 Set Position Error
Time UINT 2 mSec The minimum time during which the position error
must be greater than the Position Error Limit to
cause a Following Error fault.
Range: 0 to 65535
Default: 100
110 Set Analog Output
Position Scale DINT 4 Cnts/V This parameter is used to scale the analog output
when Parameter 98 - Analog Output Configuration
selects a position signal and Parameter 99 - Analog
Output Scale is equal to zero.
Range: -0x7fffffff to 0x7fffffff
Default: 0
111 Set Acceleration
Feedforward
Gain - Kaff UINT 2 % Acceleration feedforward gain for the position loop.
The Kaff gain generates a feed forward signal
proportional to the commanded acceleration.
Kaff gain reduces position following error. However,
high values can cause position overshoot.
Range: 0 to 200
Default: 0
112 Set Position Compare
1 Max DINT 4 Cnts The position that will be compared to the motor
(auxiliary) feedback position to determine if the
Position Compare 1 flag should be set.
Range: -0x7fffffff to 0x7fffffff
Default: 0
113 Set Position Compare
2 Max DINT 4 Cnts The position that will be compared to the motor
(auxiliary) feedback position to determine if the
Position Compare 2 flag should be set.
Range: -0x7fffffff to 0x7fffffff
Default: 0
Parameter Object,
Instances ID = 1- 1059
Parameter
Instance Access
Rule Parameter
Name Data
Type Data Size
(Bytes) Units /
Scale Description