Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 72)

72 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A Standard Drive Parameters
[Pr - 1.17] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains: I Gain Mode
Description During transient response, Speed Response Overshoot can
be suppressed by a speed controller change from a
Proportional Integral (PI) controller into a Proportional (P)
controller. It reduces position completion time during
position control.
Range Value Description
0x0 Do not use P/PI Mode
Conversion.
0x1 When Current Command
exceeds Current Value in
[Pr - 1.18], Speed
Controller is changed from
PI Controller to P Controller.
0x2 When Speed Command
exceeds Speed Value in
[Pr - 1.18] , Speed
Controller is changed from
PI Controller to P Controller.
0x3 When Position error
exceeds Position error
Value in
[Pr - 1.18] , Speed
Controller is changed from
PI Controller to P Controller.
0x4 Automatically velocity
controller is changed from
PI Controller to P Controller.
Default 0
When Enabled Servo-Off -> Setting
Applicable Operating Mode All
Modbus Address 117