Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 356)

Publication 1784-UM003A-EN-P – June 2003
348 Motion Object Attributes
Tune Position Error Integrator
The Tune Position Error Integrator bit attribute determines whether or not
the MAAT (Motion Apply Axis Tune) instruction will calculate a value for the
Position Integral Gain. If this bit is clear (false) the value for the Position
Integral Gain will be set to zero.
Tune Velocity Error Integrator
The Tune Velocity Error Integrator bit attribute determines whether or not
the MAAT (Motion Apply Axis Tune) instruction calculates a value for the
Velocity Integral Gain. If this bit is clear (false) the value for the Velocity
Integral Gain is set to zero.
Tune Velocity Feedforward
The Tune Velocity Feedforward bit attribute determines whether or not the
MAAT (Motion Apply Axis Tune) instruction calculates a value for the
Velocity Feedforward Gain. If this bit is clear (false) the value for the Velocity
Feedforward Gain is set to zero.
Tune Acceleration Feedforward
The Tune Acceleration Feedforward bit attribute determines whether or not
the MAAT (Motion Apply Axis Tune) instruction calculates a value for the
Acceleration Feedforward Gain. If this bit is clear (false) the value for the
Acceleration Feedforward Gain is set to zero.
Tune Output Low-Pass Filter
The Tune Output Low-Pass Filter bit attribute determines whether or not the
MAAT (Motion Apply Axis Tune) instruction calculates a value for the Output
Filter Bandwidth. If this bit is clear (false) the value for the Output Filter
Bandwidth is set to zero which disables the filter.
Servo Drive Status
Attributes The following sections define the behavior of the various status attributes
associated with the Servo Drive specific behavior of the Motion Axis Object.
Status attributes are, by definition, read access only. The following Servo
specific Status Attributes are divided into 3 categories: Drive Status attributes,
Drive Commissioning Status attributes, and Drive Status Bit attributes.
Drive Status Attributes The list of Drive Status Attributes associated with the Motion Axis Object
provides access to servo drive resident information for the axis. These values
may be used as part of the user program to perform real time measurements of
drive operation. A list of all Drive Status Attributes is shown in the table below.