Rockwell Automation 1771-QB Linear Pos. - Manual (Page 122)

Initializing and Tuning the Axes
Chapter 8
8Ć4
Figure 8.1
Parameter Block Data Table
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
Project Name: Page of
Designer: Address of
Date: Block Description: Axis No.
Position Data Table Address File Data
N45:1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
4
0
2
2
0
0
8
0
0
8
0
0
0
1
1
0
0
0
0
0
0
0
1
1
1
0
0
1
0
0
1
1
5
5
0
5
0
0
2
0
1
5
0
0
0
0
6
0
0
4
4
3
0
0
0
3
1
0
0
0
0
0
0
0
0
0
0
0
1
1
0
0
0
0
0
1
0
0
0
2
2
0
0
0
0
0
0
0
0
0
9
0
0
0
9
0
5
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
QB_SETUP - Axis 1
1 Parameter
Description
Parameter control word (Axis 1, inches, BCD)
Analog range (100%)
+Analog calibration constant. (25.00 ips)
-Analog calibration constant (25.00 ips)
(MS) Transducer calibration constant (9.0500 microsec/inch)
(LS) Transducer calibration constant
(MS) ZeroĆposition offset (Ć5.000 inches)
(LS) ZeroĆposition offset
+Software travel limit (21.0 inches)
-Software travel limit (Ć1.0 inches)
InĆposition band (0.100 inches)
PID band
Deadband (0.000 inches)
Excess following error (1.000 inches)
Maximum PID error (1.000 inches)
Integral term limit (10%)
Proportional gain (0.0600 ips/mil)
Gain break speed (0.00 ips)
Gain factor (0.00)
Integral gain (0.0420 (ips/s)/mil)
Derivative gain (0.0420)
Feedforward gain (30.0%)
Global velocity (10.00 ips)
Global acceleration (100.0 ips/s)
Global deceleration (100.0 ips/s)
Velocity smoothing constant (3.00 (ips/s)/ms)
Low jog rate (1.00 ips)
High jog rate (10.00 ips)
Reserved
Reserved
(0.500 inches)