Document Outline

• 2092-RM001A-EN-P March 2005
  • Important User Information
  • Table of Contents
  • Preface
    • Introduction
    • Who Should Use this Manual
    • Purpose of this Manual
    • Contents of this Manual
    • Related Documentation
    • Conventions Used in this Manual
    • Allen-Bradley Support
      • Local Product Support
      • Technical Product Assistance
      • Comments Regarding this Manual
  • 1 - Communications Protocol
    • Introduction
    • Special Symbols
    • Packet Structure
    • Checksum
  • 2 - Command Reference
    • General Commands
      • Read Parameter (SET)
      • Set Parameter (STR)
      • Set Parameter (CHP)
      • Fault Reset (RST)
      • Monitor Variable (MDM)
      • Variable Roll Monitoring (MOR)
      • Triggered Data Collection (MOT)
      • Read Fault Contents (EHY)
      • Jog (JOG)
      • Read Drive Status (STS)
      • Verify Software Version (VER)
      • Verify Servo Connection (LIV)
      • Read Fault Detailed Data (DIE)
      • Enable Drive (SVRON)
      • Disable Drive (SVROF)
      • Drive Reset (HWR)
    • Parameters
      • Group 0 Parameters
        • [Pr - 0.00] Operations Mode
        • [Pr - 0.01] Motor and Encoder Selection
        • [Pr - 0.02] Basic Modes
        • [Pr - 0.03] Auto Tuning Function
        • [Pr - 0.04] Inertia Ratio
        • [Pr - 0.05] Allocation of Input Signals
        • [Pr - 0.06] Allocation of Input Signals
        • [Pr - 0.07] Allocation of Input Signals
        • [Pr - 0.08] Allocation of Input Signals
        • [Pr - 0.09] Allocation of Input Signals
        • [Pr - 0.10] Allocation of Output Signals
        • [Pr - 0.11] Allocation of Output Signals
        • [Pr - 0.12] Allocation of Output Signals
        • [Pr - 0.13] Drive Address
      • Group 1 Parameters
        • [Pr - 1.01] Velocity Regulator P-Gain
        • [Pr - 1.02] Velocity Regulator I-Gain
        • [Pr - 1.03] Position Regulator Kp-Gain
        • [Pr - 1.04] Current Command Low Pass Filter Bandwidth
        • [Pr - 1.05] Velocity Command Low Pass Filter Bandwidth
        • [Pr - 1.06] Position Command Low Pass Filter Bandwidth
        • [Pr - 1.07] Current Regulator Resonant Frequency Suppression
        • [Pr - 1.08] Position Regulator Kff-Gain
        • [Pr - 1.09] Position Regulator Kff Bandwidth
        • [Pr - 1.10] Velocity Regulator I-Gain Mode
        • [Pr - 1.11] Velocity Regulator Integrator Hold Threshold
        • [Pr - 1.12] Position Regulator High Error Output Offset
        • [Pr - 1.13] Position Regulator High Error Output Threshold
        • [Pr - 1.14] Current Regulator Bandwidth Reduction Scale
      • Group 2 Parameters
        • [Pr - 2.00] Velocity Scale
        • [Pr - 2.01] Jog Velocity Command
        • [Pr - 2.02] Acceleration Time
        • [Pr - 2.03] Deceleration Time
        • [Pr - 2.04] S-Curve Time
        • [Pr - 2.05] Preset Velocity 1
        • [Pr - 2.06] Preset Velocity 2
        • [Pr - 2.07] Preset Velocity 3
        • [Pr - 2.08] Preset Velocity 4
        • [Pr - 2.09] Preset Velocity 5
        • [Pr - 2.10] Preset Velocity 6
        • [Pr - 2.11] Preset Velocity 7
        • [Pr - 2.12] Manual Velocity Limit
        • [Pr - 2.13] Velocity Limit Mode
      • Group 3 Parameters
        • [Pr - 3.00] Follower
        • [Pr - 3.01] Gear Ratio, Follower Counts (numerator)
        • [Pr - 3.02] Gear Ratio, Master Counts (denominator)
        • [Pr - 3.03] Encoder Output Ratio, Output Counts (numerator)
        • [Pr - 3.04] Encoder Output Ratio, Motor Counts (denominator)
      • Group 4 Parameters
        • [Pr - 4.00] Current Scale
        • [Pr - 4.01] Positive Internal Current Limit
        • [Pr - 4.02] Negative Internal Current Limit
        • [Pr - 4.03] Positive External Current Limit
        • [Pr - 4.04] Negative External Current Limit
        • [Pr - 4.05] Overtravel Current Limit
        • [Pr - 4.06] Initial Current Bias
      • Group 5 Parameters
        • [Pr - 5.00] In Position Size
        • [Pr - 5.01] Near Position Size
        • [Pr - 5.02] Speed Window
        • [Pr - 5.03] Up to Speed
        • [Pr - 5.04] Zero Clamp
        • [Pr - 5.05] Brake Inactive Delay
        • [Pr - 5.06] Disable Delay
        • [Pr - 5.07] Brake Active Delay
        • [Pr - 5.08] Disabled Braking Speed
        • [Pr - 5.09] Following Error Limit
        • [Pr - 5.10] AC Line Loss Fault Delay
        • [Pr - 5.12] Analog Output CH1 Selection
        • [Pr - 5.13] Analog Output CH2 Selection
        • [Pr - 5.14] Analog Output CH1 Scale
        • [Pr - 5.15] Analog Output CH2 Scale
      • Group 6 Parameters
        • [Pr - 6.00] Analog Velocity Command Offset
        • [Pr - 6.01] Analog Current Command Offset
        • [Pr - 6.04] Main Velocity Regulator D Gain
        • [Pr - 6.05] Velocity Error Filter
        • [Pr - 6.06] Fault Detail Sampling Period
        • [Pr - 6.07] Fault Detail Data Selection 1
        • [Pr - 6.08] Fault Detail Data Selection 2
        • [Pr - 6.09] Fault Detail Data Selection 3
        • [Pr - 6.10] Fault Detail Data Selection 4
        • [Pr - 6.11] 2nd Velocity Regulator P Gain
        • [Pr - 6.12] 2nd Velocity Regulator I Gain
        • [Pr - 6.13] 2nd Position Regulator Kp Gain
        • [Pr - 6.14] 2nd Current Regulator Bandwidth
        • [Pr - 6.15] 2nd Velocity Regulator Bandwidth
      • Group 9 Parameters
        • [Pr - 9.00] Standard Motor Flag
        • [Pr - 9.01] Motor Type
        • [Pr - 9.02] Motor Resistance
        • [Pr - 9.03] Motor Inductance
        • [Pr - 9.04] Motor Intermittent Current
        • [Pr - 9.05] Motor Continuous Current
        • [Pr - 9.06] Motor Rated Voltage
        • [Pr - 9.07] Encoder Type
        • [Pr - 9.08] Hall Offset
        • [Pr - 9.09] Current Constant
        • [Pr - 9.10] Motor Inertia
        • [Pr - 9.11] Poles/Revolution
        • [Pr - 9.12] Encoder Lines / Revolution
        • [Pr - 9.13] Maximum Rotary Speed
        • [Pr - 9.14] Force Constant
        • [Pr - 9.15] Motor Mass
        • [Pr - 9.16] Electrical Cycle Length
        • [Pr - 9.17] Encoder Lines / Meter
        • [Pr - 9.18] Maximum Linear Speed
        • [Pr - 9.19] Motor Thermal Protection Enable
        • [Pr - 9.20] Motor Thermostat
        • [Pr - 9.21] Motor Thermal Resistance - Winding to Encoder
        • [Pr - 9.22] Motor Thermal Capacitance - Winding to Encoder
        • [Pr - 9.23] Motor Thermal Resistance - Winding to Ambient
        • [Pr - 9.24] Motor Thermal Capacitance - Winding to Ambient
        • [Pr - 9.25] Commutation Type
        • [Pr - 9.26] Startup Commutation
        • [Pr - 9.27] Integral Limits
        • [Pr - 9.50] Motor Model
        • [Pr - 9.51] Drive Name
        • [Pr - 9.52] Position Scaling Data
        • [Pr - 9.53] Position Scaling Label
        • [Pr - 9.54] Velocity Scaling Data
        • [Pr - 9.55] Velocity Scaling Label
        • [Pr - 9.56] Acceleration Scaling Data
        • [Pr - 9.57] Acceleration Scaling Label
        • [Pr - 9.58] Oscilloscope Configuration
        • [Pr - 9.60] Displayed Units
  • A - Error Codes, Warnings, and Monitor Variables
    • Error Codes
    • Warnings
    • Monitor Variables
  • Index
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