Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 56)

Publication 2098-RM002A-EN-P – October 2001
4-32 Programming Reference
108 Set Vreg Tune
Direction
USINT 1 Selects a tuning direction. Not saved in
non-volatile memory.
0 = Bi-Directional (default) - to tune the drive
using an alternating step-input to create
alternately forward and reverse directional
motion.
1 = Forward Only - to tune the drive using a
step-input to create forward motion only.
2 = Reverse Only - Only to tune the drive using a
step-input to create reverse motion only.
109 Set Vreg Tune Period REAL 4 sec The time the drive will turn at a given velocity.
Not saved in non-volatile memory.
Range: 0 to 3.4e10
Default: 0
110 Set Vreg Tune Step REAL 4 cnts/ sec The amplitude of the velocity input sent to the
drive for the given Vreg Tune Period. In
Bi-Directional tuning, the amplitude will alternate
polarity (+ or - sign). Not saved in non-volatile
memory.
Range: 0 to 3.4e10
Default: 0
111 Get Vreg Tune
Command
REAL 4 cnts/ sec The velocity command driving the velocity
regulator while the velocity tuning algorithm is
running. This signal is only included to be
consistent with the Position Regulator Tune
Command signal. It is actually the same as the
Vreg Command Velocity.
112 Get Vreg Tune
Feedback
REAL 4 cnts/ sec The velocity feedback to the velocity regulator
while the velocity tuning algorithm is running.
This signal is only included to be consistent with
the Position Regulator Tune Feedback signal. It is
actually the same as the Vreg Feedback Velocity.
113 Set Preg Kp REAL 4 1/sec Proportional gain for the position loop. Increasing
the Kp gain improves response time and
increases the “stiffness” of the system. Too high
a Kp gain value causes instability; too low a Kp
gain value results in “loose” or “ sloppy” system
dynamics.
Range: 0 to 3.4e10
Default: 20
114 Set Preg Kpz REAL 4 1/sec Proportional gain for the position loop, when the
position error falls within the Preg Kpz Zone.
Range: 0 to 3.4e10
Default: 0
115 Set Preg Kpz Zone DINT 4 cnts Enter the region, in counts, around Command
Position where Preg Kpz will be used in place of
Preg Kp as the position loop proportional gain
value.
Range: 0 to 2147483647
Default: 0
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description