BA Intellidrive User’s Manual
Parameters
Version 1.4
Aerotech, Inc.
4-1
CHAPTER 4:
PARAMETERS
In This Section:
•
Introduction ...................................................................4-1
•
Servo Loop Parameters ..................................................4-4
•
Limit Parameters ..........................................................4-25
•
Communications/Startup Parameters............................4-31
•
Miscellaneous...............................................................4-35
4.1.
Introduction
This chapter describes the various parameters used on the BAI, refer to Table 4-1. All
parameters are entered as numbers. For example, parameter 94 selects the address of the
unit. It should be entered as its ASCII decimal equivalent (i.e., A=65, B=66, etc..).
Table 4-1.
BAI Parameters
Servo Loop Parameters
Parameter
Title
Page
PRM:0
Proportional Velocity Gain KP
4-5
PRM:1
Integral Velocity Gain KI
4-5
PRM:2
Proportional Position Gain KPOS
4-5
PRM:3
Incremental Change for KP
4-6
PRM:4
Incremental Change for KI
4-6
PRM:5
Incremental Change for KPOS
4-7
PRM:6
Servo “In Position” Tolerance
4-7
PRM:7
Servo Peak Current Limit
4-8
PRM:8
Servo RMS Limit
4-8
PRM:9
Servo RMS Current Timeout
4-9
PRM:10
Servo Velocity Trap
4-9
PRM:11
Integral Clamp
4-10
PRM:12
Position Error Trap
4-10
PRM:13
Servo Update Rate
4-11
PRM:14
Encoder Resolution
4-12
PRM:15
Electrical Cycles/Mechanical Revolution
4-12
PRM:16
Hall Effects Available
4-13
PRM:17
Initialization Current
4-14
PRM:18
Velocity Feedforward VFF
4-14
PRM:19
Moved to PRM:209
4-38
PRM:20
Operating Mode
4-15
PRM:22
Position Save
4-15
PRM:23
Reload Saved Position on Powerup
4-15
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