Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 268)

246 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
PFE Following Error, Peak Position
Purpose Peak following error in user units.
Syntax variable = PFE
variable The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks The following error is calculated every position loop update (2mS). If the present
value is greater than the previous peak the value is saved as the new peak. The magni-
tude of the peak is calculated based on an absolute value of following error. The value
is saved and reported as a signed number, however.
CLRPEAKS resets this value to zero.
See Also FE, CLRPEAKS
Example V1 = PFE
PGAIN Proportional Gain, Velocity Loop Gain
Purpose Set the proportional gain for the velocity loop. The velocity loop proportional gain
may be changed at any time in the program.
Syntax PGAIN = value
variable = PGAIN
value The value may be a nonvolatile variable Gn, a volatile variable
Vn, or a system variable.
variable Variable may be a nonvolatile variable Gn, a volatile variable
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 IGAIN, FGAIN
Example PGAIN = 0.5