Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 54)

Publication 2098-RM002A-EN-P – October 2001
4-30 Programming Reference
85 Set Gear Slew Decel REAL 4 ratio/ sec If the gear is disabled while it is in motion, or the
gear ratio is changed to a smaller value. The gear
ratio will ramp down to the specified value (or
zero if disabling) at this rate.
Range: 0 to 3.4e10
Default: 0
86 Get Gear State USINT 1 Indicates if the gear is enabled and generating
output.
0 = Disable
1 = Enable
87 Get Gear Offset REAL 4 cnts The floating point value of the Gear Current
Position.
88 Get Gear Current
Position
DINT 4 cnts The position generated by gearing. This value is
automatically re-set to zero at drive power up.
89 Get Gear Current
Velocity
REAL 4 cnts/ sec The velocity command generated by gearing.
90 Get Gear Current
Accel
REAL 4
cnts/ sec 2 The acceleration command generated by gearing.
91 Get Gear Slew State USINT 1 Indicates if the gear ratio is changing.
0 = Locked - The gear ratio has reached the target
value.
1 = Seeking - The gear ratio is ramping up or
down.
92 Get Current Gear
Ratio
REAL 4 The current gear ratio may not equal the user
entered Gear Ratio when the Gear Slew State =
Seeking. The current gear ratio is equal to the
user entered Gear Ratio when the Gear Slew
State = Locked, or if Gear Slew is Disabled.
93 Set Vreg KP REAL 4 1/sec Proportional gain for the velocity loop. Increasing
the P gain improves response time and increases
the “stiffness” of the system. Too high a P gain
value causes instability; too low a P gain value
results in “loose” or “sloppy” system dynamics.
Range: 0 to 3.4e10
Default: 200
94 Set Vreg KI REAL 4 1/sec Integral gain for the velocity loop. I gain improves
the steady-state velocity performance of the
system. Increasing the integral gain generally
increases the ultimate positioning accuracy of the
system. However excessive integral gain results
in system instability
Range: 0 to 3.4e10
Default: 0
95 Set Vreg KFF REAL 4 Acceleration feedforward gain. FF gain reduces
velocity following error. However, high values can
cause velocity overshoot
Range: 0 to 3.4e10
Default: 1
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description