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Remote i/o adapter specifications, Servo gain units – Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) User Manual

Page 27

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Introduction

2-11

Publication 999-122 - January 1997

Servo Gain Units

Remote I/O Adapter
Specifications

IMC-S/23x-R and IMC-S/23x-RL models only.

IMC-S/23x Servo Gain Units

Gain

Description

Units

P

I

V

F

Proportional Gain

Integral Gain

Velocity Gain

Feedforward Gain

Deadband Compensation
Offset Compensation

Counts per Millisecond

Count of Error

Counts per Millisecond2

Count of Error

Millivolts

Count per Millisecond

Counts per Millisecond

Count per Millisecond

Volts
Volts

Baud Rate

57.6K, 115.2K or 230.4K (User-selectable).

Rack Address

User-selectable between 0 and 31 decimal.

Rack Width

User-selectable in quarter-rack increments (1/4, 1/2, 3/4, Full).

I/O Group Address

User selectable as shown below:

IMC-S/23x Remote I/O Adapter Addressing

Type of Transfer

I/O Group

Block
Discrete
Discrete
Discrete
Discrete
Discrete
Discrete
Discrete

0

2

4

6

1

3

5

7

0

2

4

1

3

5

2

4

6

3

5

7

0

2

1

3

2

4

3

5

4

6

5

7

0
1
2
3
4
5
6
7

Starting I/O Group

0

2

4

6

0

2

4

0

2

0

Rack Width

1/4

1/2

3/4

Full