Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 132)

Appendix E
Parameter Record
E-6
Modify Level
Parameter Description Default Actual
68 Bandwidth Maximum – *
69 Auto Tune Friction – *
128 EEprom Functions –
130 Drive OK Mode 0 Fault Only
131 Language Select 0 English
132 Velocity Mode Select 0 A/D Input
133 Torque Mode Select 0 Velocity Mode 1
144 Clockwise Velocity Limit –
145 Counterclockwise Velocity Limit –
146 Accel/Decel Ramp 22216 rads/sec.
156 Positive Current Limit –
157 Negative Current Limit –
159 Current Preload 0
168 Kp Velocity Loop 100
169 Ki Velocity Loop 6667
170 Feed Forward Gain 0
171 Static Gain 1 rpm
182 Desired Velocity Bandwidth 200 rads/sec.
183 Velocity Damping Selection 0 zeta=0.87
184 Velocity Low Pass Filter Bandwidth 30000 rads/sec.
185 Lead/Lag Vel. Fdbk. Filter Gain 1.00
186 Lead/Lag Vel. Fdbk. Filter Bandwidth 250 rads/sec.
187 Auto Tune Velocity +1000 rpm
188 Auto Tune Current Limit 50%
189 Auto Tune Inertia 100 ms
190 Auto Tune Select –
210 A/D Converter Offset 0 mV
211 Analog Velocity Gain +500 rpm/volt
212 D/A #1 Gain +0.07
233 Cable Compensation 50 ft.