Rockwell Automation 1756-DMF30 ControlLogix Drive Module - Manual (Page 176)

Publication 1756-UM522B-EN-P - February 2003
B-96 1756-DMD30 Specific Information
770 PositReg Integ
Sets position regulator integral gain as measured from
position error to velocity reference. It has gain units of (per
unit velocity/sec) / (per unit position) and is unit compatible
with [PositReg P Gain]. An integral gain of 25 means that a
per unit position error of 0.1 sec will effect a 2.5 pu speed
change per sec. A typical maximum value is
π*[PositReg P
Gain]2. Note: 1 per unit position is the distance traveled in 1
sec. at base motor speed.
Units:
Default:
Min:
Max:
Type:
File:
Group: /Sec
1
0.01
500
Linkable, Read-Write, Floating Point
Position Control
Interp/Direct
771 PositReg Droop
Position Droop limits the low frequency gain of the position
regulators integral channel to a value of (1/droop). It provides
a means to fine tune the stability for load mounted feedback
devices where lost motion may cause a problem. Typically,
position droop will have a value that is less than (1/position
gain), perhaps even zero for tightly coupled loads. Position
droop has a gain value of (per unit position) / (per unit speed).
Note: 1 per unit position is the distance traveled in 1 sec. at
base motor speed. Default:
Min:
Max:
Type:
File:
Group: 0
0
200
Linkable, Read-Write, Floating Point
Position Control
Interp/Direct
772 XReg Integ LoLim
The negative limit of the position integrator. Units:
Default:
Min:
Max:
Type:
File:
Group: RPM
-2187.5
-14000
0
Linkable, Read-Write, Floating Point
Position Control
Interp/Direct
773 XReg Integ HiLim
The positive limit of the position integrator. Units:
Default:
Min:
Max:
Type:
File:
Group: RPM
2187.5
0
14000
Linkable, Read-Write, Floating Point
Position Control
Interp/Direct
774 XReg Integ Out
The output of the position regulator integral channel after
application of the limits. This output is set to zero if the
integral gain is set to zero or the integrator is not enabled. Units:
Default:
Min:
Max:
Type:
File:
Group: RPM
0
-14000
14000
Non-Linkable, Read Only, Floating Point
Position Control
Interp/Direct
775 XReg Spd LoLim
The negative limit of total position regulator output. Point to
point mode uses this parameter to set the reverse speed
reference. Units:
Default:
Min:
Max:
Type:
File:
Group: RPM
-1750
-14000
0
Linkable, Read-Write, Floating Point
Position Control, Position Control
Interp/Direct, Point to Point
No. Name
Description Values