Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 73)

Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 73
Standard Drive Parameters Appendix A
[Pr - 1.18] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains: I Gain Disable Threshold
Range 0…3000
Default 100
Units If [Pr - 1.17] = 1, units are % of rated continuous current
If [Pr - 1.17] = 2, units are rotary motors: rpm; linear
motors: mm/s
If [Pr - 1.17] = 3, units are Counts
When Enabled Follower, Analog Velocity, Preset
Applicable Operating Mode Immediately
Modbus Address 118
[Pr - 1.19] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains: High Error Output Offset
Range 0…450
Default 0
Units Rotary motors: rpm; Linear motors: mm/s
When Enabled All
Applicable Operating Mode Immediately
Modbus Address 119
[Pr - 1.20] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains: High Error Output
Threshold
Range 0…50,000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
Modbus Address 120