Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual
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Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
KFF
Velocity feedforward Gain
Gain
Purpose
Set the velocity feedforward gain to a new value. Velocity feedforward gain may be
changed at any time in the program.
Syntax
KFF = value
variable = KFF
value
The value is entered in percent. The value can be a constant, a
nonvolatile variable Gn, a volatile variable Vn, or a system
variable. The range of this value is 0 to 200%.
variable
The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks
Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also
KP, KPZ, PZONE, KI, IZONE
Example
KFF = 75
KFF = V8
V7 = KFF
KI
Integral Gain, Position Regulator
Gain
Purpose
Set the integral gain to a new value. The position regulator integral gain may be
changed at any time in the program. The integral gain is active when the position error
is less than IZONE (regardless of commanded velocity). If IZONE is set to zero, inte-
gral gain is not active.
Syntax
KI = value
variable = KI
value
The value can be a constant, a nonvolatile variable Gn, a vola-
tile variable Vn, or a system variable.
variable
The variable can be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks
Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also
IZONE, KP, KPZ, PZONE, KFF
Example
KI = 1.5
KI = G3
V4 = KI