Rockwell Automation 1336T FORCE Series B - Manual (Page 179)

Chapter 5
Programming Parameters
5–53
Feedback Device Type
[Fdbk Device Type] Parameter Number 150
Parameter Type Sink
Display Units x
Drive Units None
Factory Default Encoder
Minimum Value 0
Maximum Value 7
This parameter selects the source for motor
velocity feedback:
0 – Encoder Feedback
1 – Encoder Feedback
2 – Encoder Feedback w/tracker filter
3 – Motor Simulator
4 – External Feedback
5 – Encoderless velocity estimate with deadband
6 – Encoderless velocity estimate without deadband
7 – Encoderless without deadband and low bandwidth
Feedback Tracker Gain
[Fdbk Track Gain] Parameter Number 151
Parameter Type Sink
Display Units x.xxx
Drive Units 1024 @ 1.000 gain
Factory Default 1.000
Minimum Value 0.043
Maximum Value 1.000
Affects gain of the alpha–beta tracker filter
used when Fdbk Device Type = 2.
Smaller gains result in increased filtering.
Typical Value: = 0.15 to 0.7
Use 1.0 to disable.
Feedback Filter Select
[Fdbk Filt Sel] Parameter Number 152
Parameter Type Sink
Display Units x
Drive Units None
Factory Default 0
Minimum Value 0
Maximum Value 4
0 = No Filter
1 = “light” 35/49 radian feedback filter
2 = “heavy” 20/40 radian feedback filter
3 = Single pole Lead Lag feedback filter
4 = Notch
Encoder Position Feedback LOW
[Enc Pos Fdbk Low] Parameter Number 148
Parameter Type Source
Display Units x
Drive Units None
Factory Default 0
Minimum Value 0
Maximum Value 65535
This is the LOW word portion of a 32 bit
encoder pulse accumulator. Each encoder
quadrature edge will be counted, resulting
in a 4X multiplication. As a result, this pa-
rameter will be scaled such that the posi-
tion change per motor revolution is equal to
4 times the encoder PPR.
Encoder Position Feedback HI
[Enc Pos Fdbk HI] Parameter Number 149
Parameter Type Source
Display Units x
Drive Units None
Factory Default 0
Minimum Value 0
Maximum Value 65535
This is the HI word portion of a 32 bit en-
coder pulse accumulator that was de-
scribed for the previous parameter. This
word will change by 1 count for every
change in low count of 65,536 4X encoder
pulses.
Kn – Feedback Filter Gain
[Fdbk Filt Gain] Parameter Number 153
Parameter Type Sink
Display Units
±
x.xx
Drive Units 256 = 1.00 gain
Factory Default + 1.00
Minimum Value – 5.00
Maximum Value +5.00
Wn – Feedback Filter Bandwidth
[Fdbk Filt BW] Parameter Number 154
Parameter Type Sink
Display Units x Radian/Seconds
Drive Units None
Factory Default 100 Radian/Seconds
Minimum Value 1 Radian/Seconds
Maximum Value 900 Radian/Seconds
This is the Kn term of the single pole lead/
lag feedback filter. Kn greater than 1.0 will
produce a lead filter, and less than 1.0 a
lag filter. Kn equal to 1.0 will disable the
feedback filter.
This parameter establishes the breakpoint
radian frequency for the velocity feedback
lead-lag filter.