Gains/limits – Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual

Page 61

Parameter Menu • Gains/Limits

Publication 1398-PM601A-EN-P — October 2000

MENUS

Gains/Limits

Gains are used to adjust both the velocity and position loop performance. The velocity loop gains
should be set up first, and then the position loop gains can be set. Change gains with care as excessive
settings on any gain can result in motor instability.

After changing any Gain values, choose OK to store the new values and close the dialog box, choose
Update to store the new values, but still leave the Gains/Limits dialog box displayed or choose Cancel
to leave the dialog box without saving changes. The new values are not active until OK or Update is
selected.

Name

Description

Detail Reference

FILTER

Select the FILTER ON check box to enable
the low pass filter on the output of the
velocity regulator.

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FILTER

PGAIN

PGAIN is the proportional gain of the
velocity regulator.

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PGAIN

IGAIN

IGAIN is the velocity regulator integral
gain.

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IGAIN

FGAIN

FGAIN is the acceleration feedforward
gain.

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FGAIN

KP is the position regulator proportional
gain.

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KP

KPZ

KPZ is the position regulator proportional
gain used when the system is within the
region of the commanded position defined
by PZONE.

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KPZ

PZONE

PZONE is the region around the com-
manded position where the position loop
proportional gain is changed to the gain set
by the KPZ parameter.

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PZONE

KFF

KFF is the velocity feedforward gain.

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KFF

KI is the position regulator integral gain.

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KI

IZONE

IZONE is the region around the com-
manded position where the position loop
integral gain is active.

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IZONE

In-Position
Window

In-Position Window defines the maximum
position error that is used to determine if the
motor is In-Position.

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Language Reference
WIN