Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 56)

Chapter 6
Programming
6-19
Parameter 183 – Velocity Damping Selection (Vel Damp Selct)
This parameter is associated with the auto tune function and specifies the
velocity damping desired by the user. The auto tuning procedure calculates
a new set of Velocity Loop Gains (parameters 168 & 169) and a new
Current Rate Limit (parameter 158) when the user initiates the Auto Tune
Calculate function. Refer to Figure 8.1 for further information.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 0
Maximum Value: 3
Default Value: 0
0 zeta = 0.87
1 zeta = 1.0
2 zeta = 0.7
3 zeta = 1.4
Parameter 184 – Velocity Low Pass Filter Band-
width (Vel Low Pas BW)
Specifies the single pole low pass velocity feedback filter bandwidth. A
value of 30000 disables the filter.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 0 rads/second
Maximum Value: 30000 rads/second
Default Value: 30000 rads/second
Parameter 185 – Lead/Lag Velocity Fdbk. Filter Gain (Lead/Lag Gain)
Specifies the gain of the velocity feedback filter. A value of 1.00 disables
the filter.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: –10.00 (lag)
Maximum Value: +10.00 (lead)
Default Value: 1.00
Parameter 186 – Lead/Lag Velocity Fdbk. Filter BW. (Lead/Lag BW)
Specifies the bandwidth of the velocity feedback filter.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 0 rads/second
Maximum Value: 2700 rads/second
Default Value: 250 rads/second
Parameter 187 – Auto Tune Velocity (Auto Tune Vel)
This parameter specifies the maximum velocity attained during an auto
tune cycle.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: –2000 rpm
Maximum Value: +2000 rpm
Default Value: +1000 rpm