Remote i/o adapter specifications, Servo gain units – Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) User Manual
Page 27
Introduction
2-11
Publication 999-122 - January 1997
Servo Gain Units
Remote I/O Adapter
Specifications
IMC-S/23x-R and IMC-S/23x-RL models only.
IMC-S/23x Servo Gain Units
Gain
Description
Units
P
I
V
F
Proportional Gain
Integral Gain
Velocity Gain
Feedforward Gain
Deadband Compensation
Offset Compensation
Counts per Millisecond
Count of Error
Counts per Millisecond2
Count of Error
Millivolts
Count per Millisecond
Counts per Millisecond
Count per Millisecond
Volts
Volts
Baud Rate
57.6K, 115.2K or 230.4K (User-selectable).
Rack Address
User-selectable between 0 and 31 decimal.
Rack Width
User-selectable in quarter-rack increments (1/4, 1/2, 3/4, Full).
I/O Group Address
User selectable as shown below:
IMC-S/23x Remote I/O Adapter Addressing
Type of Transfer
I/O Group
Block
Discrete
Discrete
Discrete
Discrete
Discrete
Discrete
Discrete
0
2
4
6
1
3
5
7
0
2
4
1
3
5
2
4
6
3
5
7
0
2
1
3
2
4
3
5
4
6
5
7
0
1
2
3
4
5
6
7
Starting I/O Group
0
2
4
6
0
2
4
0
2
0
Rack Width
1/4
1/2
3/4
Full