Rockwell Automation 1771-QB Linear Pos. - Manual (Page 121)

Initializing and Tuning the Axes
Chapter 8
8Ć3
Table 8.A
Default Parameter Block Settings
Parameter Suggested Values Comments
Inches Metric
Analog range 100 100 Check servo valve rating
+Analog calibration constant 2500 6350 Set to maximum velocity in positive direction
-Analog calibration constant 2500 6350 Set to maximum velocity in negative direction
(MS) Transducer calibration constant 9 3 Multiply this by the number of circulations
(LS) Transducer calibration constant 500 5600 Multiply this by the number of circulations
(MS) ZeroĆposition offset Ć5 Ć12 Application dependent
(LS) ZeroĆposition offset 0 Ć700 Application dependent
+Software travel limit 210 533 Set in front of mechanical stop in (+) direction
-Software travel limit Ć10 Ć25 Set in front of mechanical stop in (-) direction
InĆposition band 100 254 Optional Ć adjust for your application
PID band 500 1270 Rarely necessary to use a smaller value
Deadband 0 0 Rarely necessary or desirable
Excess following error 1000 2540 NonĆzero value important for safety
Maximum PID error 1000 2540 NonĆzero value important for safety
Integral term limit 10 10 Important to prevent integral windup
Proportional gain 600 600 Follow tuning procedure
Gain break speed 0 0 Rarely necessary
Gain factor 0 0 Rarely necessary
Integral gain 420 420 Set to 70% of proportional gain value
Derivative gain 420 420 Set to 70% of proportional gain value
Feedforward gain 300 300 Use these values or follow optional tuning procedure
Global velocity 1000 2540 Must be less than maximum velocity
Global acceleration 1000 2540 Application dependent
Global deceleration 1000 2540 Application dependent
Velocity smoothing constant 300 762 Application dependent
Low jog rate 100 254 Must not exceed high jog rate
High jog rate 1000 2540 Must be less than maximum velocity
Reserved 0 0
Reserved 0 0
Make sure that you have set the analog configuration switches correctly and that
you have entered the correct range into the parameter block.
ATTENTION: Incorrect analog output configuration can cause
sudden high-speed motion. Incorrect analog output polarity will
cause the axis to accelerate out of position when you close the loop.