Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 57)

Publication 2098-RM002A-EN-P – October 2001
Programming Reference 4-33
116 Set Preg Ki REAL 4 1/sec Integral gain for the position loop. Ki gain
improves the steady-state positioning
performance of the system and virtually
eliminates steady-state positioning errors.
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
117 Set Preg Ki Zone DINT 4 cnts Enter the region, in counts, around Preg
Command Position where integral gain is active.
Range: 0 to 2147483647
Default: 0
118 Set Preg Kff REAL 4 Velocity feedforward gain for the position loop.
Range: 0 to 3.4e10
Default: 1
119 Get Preg Command
Position
DINT 4 cnts The command position input to the position loop.
120 Get Preg Command
Velocity
REAL 4 cnts/ sec The command velocity input to the position loop.
121 Get Preg Command
Accel
REAL 4
cnts/ sec 2 The command acceleration input to the position
loop.
122 Get Preg Feedback
Position
DINT 4 cnts The feedback position returned from the motor to
the position loop.
123 Get Preg Error DINT 4 cnts The difference between Preg Command Position
and Preg Feedback Position.
124 Get Preg Error Sum DINT 4 cnts The position error summation used by integral
gain.
125 Get Preg Output REAL 4 cnts/ sec The generated output from the position loop.
126 Get Preg Tune State USINT 1 Indicates the state of the position tuning function.
0 = Idle
1 = Running
2 = Stopping
127 Get Preg Command
Offset
DINT 4 cnts Offsets the Command Position value displayed on
Ultraware's Oscilloscope to prevent the command
trace from incrementing ('walking') off the
display.
128 Get Preg Feedback
Offset
DINT 4 cnts Offsets the Feedback Position value displayed on
the Ultraware's Oscilloscope to prevent the
feedback trace from incrementing ('walking') off
the display.
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description