Rockwell Automation 2092-DAx Ultra1500 Host Commands for Serial Communication Reference Manual - Manual (Page 4)

Publication 2092-RM001A-EN-P — March 2005
ii Table of Contents
[Pr – 0.11] Allocation of Output Signals . . . . . . . . . . . . . . . . . 2-20
[Pr – 0.12] Allocation of Output Signals . . . . . . . . . . . . . . . . . 2-20
[Pr – 0.13] Drive Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Group 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
[Pr – 1.01] Velocity Regulator P-Gain . . . . . . . . . . . . . . . . . . . 2-21
[Pr – 1.02] Velocity Regulator I-Gain . . . . . . . . . . . . . . . . . . . 2-21
[Pr – 1.03] Position Regulator Kp-Gain . . . . . . . . . . . . . . . . . 2-21
[Pr – 1.04] Current Command Low Pass Filter Bandwidth . . 2-21
[Pr – 1.05] Velocity Command Low Pass Filter Bandwidth . . 2-21
[Pr – 1.06] Position Command Low Pass Filter Bandwidth . . 2-22
[Pr – 1.07] Current Regulator Resonant Frequency Suppression . .
2-22
[Pr – 1.08] Position Regulator Kff-Gain . . . . . . . . . . . . . . . . . 2-22
[Pr – 1.09] Position Regulator Kff Bandwidth . . . . . . . . . . . . 2-22
[Pr – 1.10] Velocity Regulator I-Gain Mode . . . . . . . . . . . . . . 2-23
[Pr – 1.11] Velocity Regulator Integrator Hold Threshold . . . 2-23
[Pr – 1.12] Position Regulator High Error Output Offset . . . 2-23
[Pr – 1.13] Position Regulator High Error Output Threshold 2-24
[Pr – 1.14] Current Regulator Bandwidth Reduction Scale . . 2-24
Group 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
[Pr – 2.00] Velocity Scale. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
[Pr – 2.01] Jog Velocity Command . . . . . . . . . . . . . . . . . . . . . 2-25
[Pr – 2.02] Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
[Pr – 2.03] Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
[Pr – 2.04] S-Curve Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
[Pr – 2.05] Preset Velocity 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
[Pr – 2.06] Preset Velocity 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
[Pr – 2.07] Preset Velocity 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
[Pr – 2.08] Preset Velocity 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
[Pr – 2.09] Preset Velocity 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
[Pr – 2.10] Preset Velocity 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
[Pr – 2.11] Preset Velocity 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
[Pr – 2.12] Manual Velocity Limit . . . . . . . . . . . . . . . . . . . . . . 2-27
[Pr – 2.13] Velocity Limit Mode . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Group 3 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
[Pr – 3.00] Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
[Pr – 3.01] Gear Ratio, Follower Counts (numerator) . . . . . . 2-29
[Pr – 3.02] Gear Ratio, Master Counts (denominator) . . . . . . 2-29
[Pr – 3.03] Encoder Output Ratio, Output Counts (numerator) . .
2-29
[Pr – 3.04] Encoder Output Ratio, Motor Counts (denominator) .
2-29
Group 4 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
[Pr – 4.00] Current Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
[Pr – 4.01] Positive Internal Current Limit . . . . . . . . . . . . . . . 2-30
[Pr – 4.02] Negative Internal Current Limit . . . . . . . . . . . . . . 2-30
[Pr – 4.03] Positive External Current Limit . . . . . . . . . . . . . . . 2-30
[Pr – 4.04] Negative External Current Limit . . . . . . . . . . . . . . 2-30
[Pr – 4.05] Overtravel Current Limit . . . . . . . . . . . . . . . . . . . . 2-31