Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 148)

Publication 1784-UM003A-EN-P – June 2003
140 Naming & Configuring Your Motion Axis
Set Custom Gains
Click on this button to open the Custom Gain Attributes dialog.
Figure 6.30 Set Custom Gains Dialog from Gains Tab for AXIS_SERVO_DRIVE
At this dialog box you can edit the VelocityDroop attribute.
When a parameter transitions to a read-only state, any pending changes to
parameter values are lost, and the parameter reverts to the most recently saved
parameter value.
When multiple workstations connect to the same controller using RSLogix
5000 and invoke the Axis Wizard or Axis Properties dialog, the firmware
allows only the first workstation to make any changes to axis attributes. The
second workstation switches to a Read Only mode, indicated in the title bar, so
that you may view the changes from that workstation, but not edit them.
Attribute
The following attribute value can be monitored and edited in this dialog box.
Attribute Description
VelocityDroop This 32-bit unsigned attribute – also referred to as "static gain" –
acts as a very slow discharge of the velocity loop integrator.
VelocityDroop may be used as a component of an external position
loop system where setting this parameter to a higher, non-zero
value eliminates servo hunting due to load/stick friction effects.
This parameter only has effect if VelocityIntegralGain is not zero. Its
value ranges from 0 to 2.14748x10^12.
Note: This value is not applicable for Ultra3000 drives.