Rockwell Automation 8720MC Drives Integration Manual - Manual (Page 126)

Publication 8720MC-IN002A-EN-P — December 2002
C-14 Programming Parameters
Name: Prime_OP_Mode_n Data Display: Enumerated Selection R/W
Parameter No.
32
File:
Servo Loop
Group:
Group 0 Description:
Primary operation mode - There are 8 groups of servo parameters (n = 0 - 7) and “Primary Operating Mode” is
one of them. The choices available for primary operating mode are:
Enumerated Bit Pattern:
bits 0-2
001 - Torque Mode
010 - Velocity Mode
011 - Position with feedback 1, motor feedback (SERCOS only)
100 - Position with feedback 2, auxiliary feedback (SERCOS only)
101 - Position Control using both motor and auxiliary feedback (SERCOS only)
bit 3 - 15 reserved
In the analog version each of the 8 parameter sets has a “Prime_Op_Mode_n” parameter. Group zero is
parameter 32. In the SERCOS version the drive modes of operation defined by this parameter becomes active
when the operation mode is selected via bits 9 and 8 in the SERCOS control word of the MDT. The activated
operation mode is indicated by bits 9 and 8 of the SERCOS drive status in the AT telegram from the drive to the
master.
In the analog configuration only position with motor feedback (feedback 1), velocity and torque modes are
available. The operating mode can be changed on line in the analog version by switching parameter sets.
Default: 010,
velocity Length
2 bytes Minimum/Maximum
N/A Scaling Resolution
N/A Units
N/A
Name: Velocity_Command Data Display: Decimal R, Link
Parameter No.
36
File:
Control
Group:
Velocity Description: Velocity command value.This parameter contains the value of the reference velocity command.
Possible sources are Analog Input 1 (parameter 691), SCANp An1 Value (parameter 713), and the SERCOS cyclic
telegram. The source of the velocity reference command is determined by parameter 501, “A-B Application”.
With the suggested feedback and motor wiring a positive velocity reference produces clockwise rotation when
viewed from the shaft end of the motor.
Default:
0 Length
2 bytes SCANport Min/Max
Min.
≥ -30,000
Max.
≤ +30,000
SCANport Scaling Resolution
1 = 1RPM Units
RPM
Default:
0 - preferred
scaling Length
4 bytes SERCOS/DPI Min/Max
Min. ≥ -2 31
Max.
≤ +2 31
- 1
SERCOS/DPI Scaling Resolution
Scaling type: parameter 44
Scaling factor: parameter 45
Scaling exponent: parameter 46 Units
parameter
44
Name: +Vel_Limit_0 Data Display: Signed Decimal R/W
Parameter No.
38
File:
Servo Loop
Group:
Group 0 Description: Positive velocity limit value. This parameter describes the maximum allowable velocity in the
positive direction. If the velocity limit value is exceeded, the drive responds by setting the status 'ncommand >
nlimit' in C3D (see parameter 13) as well as parameter 335 “Vel_Above_Limit”. This parameter appears in 8 sets
of servo loop parameters. Parameter 38 appears in Group 0. See Parameter Files, Groups, and Elements (Group
Listing) in this chapter. The commanded positive RPM will be limited to this value. If for any reason the actual
motor velocity exceeds + Vel_Limit_0 by 50% an overspeed fault will disable the drive.
Default:
6000 Length
2 bytes SCANport Min/Max
Min.
≥ 0
Max. ≤ +30,000
SCANport Scaling Resolution
1 = 1RPM Units
RPM
Default:
6000 Length
4 bytes SERCOS/DPI Min/Max
Min.
≥ 0
Max.
≤ +2 31
- 1
SERCOS/DPI Scaling Resolution
Scaling type: parameter 44
Scaling factor: parameter 45
Scaling exponent: parameter 46 Units
parameter
44