Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 46)

4-18 2-Axis Servo Module M/N 57C422B
When the drive is configured as a velocity regulator, register
31 should be used to limit the voltage reference. This feature
is used if the drive requires less than 10 volts for full speed. If
the drive is configured as a current regulator, register 31 can
be used as a programmable current clamp. The "output
clamped" bit in register 73 will be set when the voltage
reference is limited by the value in register 31.
4.25 Register 32: Positive Linearization
Constant
Register 32 contains the positive linearization constant for
the velocity output. This value is used by the module to
insure that the velocity output is linearly related to the
number computed by the software. Initially, this value should
be set to -1. The "tune dynamics" command in auto-tuning
will adjust this number if the drive has been configured as a
velocity regulator.
4.26 Register 33: Negative Linearization
Constant
Register 33 contains the negative linearization constant for
the velocity output. This value is used by the module to
Figure 4.23 – Maximum Voltage Reference Output Register
Figure 4.24 – Positive Linearization Constant Register