AB Quality Allen-Bradley 1394, User Manual

Page: 148 / 301

Publication 1394-5.0 — May 2000
8-12 Configuring Your 1394 Analog Servo System
[Feed Fwd Gain]
Controls the negative feedforward gain of the
velocity command contribution to the velocity
regulator torque loop. Setting this to a value
greater than zero reduces the velocity feedback
overshoot in response to a step change in the
velocity reference. The velocity loop response to
a load disturbance is unaffected by the Feed
Forward Gain. The default value will be
satisfactory in most cases.
Parameter Numbers 376, 377, 378, 379
Parameter Group Vel Loop Data
Display Units None
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0% of [Vel Command]
Maximum Value 100% of [Vel Command]
Default Value 0
[Hardware Version]
This parameter specifies the revision level of the
system module hardware.
Parameter Numbers 25
Parameter Group Monitor Parms
Display Units None
Parameter Type Read Only
Linkable No
[I(t) Cur Lim]
This parameter displays the present level of the
I(t) current limit for this axis.
Parameter Numbers 344, 345, 346, 347
Parameter Group Linear List
Display Units amps
Parameter Type Read Only
Linkable No
[Id Cur Ref]
This parameter displays the present level of the
Id current reference for this axis.
Parameter Numbers 236, 237, 238, 239
Parameter Group Torq Data
Display Units amps
Parameter Type Read Only
Linkable No
[Id RPM End]
This parameter determines the velocity at which
maximum Id current will be applied. It is
automatically changed when a motor is selected
by [Motor Type].
Note: Before making modifications to Mtr Data
parameters, [Motor Type] must be set to "custom
motor".
Parameter Numbers 176, 177, 178, 179
Parameter Group Mtr Data
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0.0 rpm
Maximum Value 8000.0 rpm
Default Value This is determined by the motor catalog number.
[Id RPM Start]
This parameter determines the velocity at which
Id current will start to be applied. It is
automatically changed when a motor is selected
be [Motor Type].
Note: Before making modifications to Mtr Data
parameters, [Motor Type] must be set to "custom
motor".
Parameter Numbers 172, 173, 174, 175
Parameter Group Mtr Data
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0.0 rpm
Maximum Value 5600.0 rpm
Default Value This is determined by the motor catalog number.