Rockwell Automation 2092-DAx Ultra1500 User Manual User Manual
Page 182
Publication 2092-UM001D-EN-P — July 2005
D-18
Ultra1500 Operator Interface
Pr-1.11 Main Velocity Regulator Gains: Integrator Hold Threshold
Pr-1.12 Main Position Regulator Gains: High Error Output Offset
Pr-1.13 Main Position Regulator Gains: High Error Output Threshold
Pr-1.14 Main Current Regulator Gains: Gain
Range:
0 to 3000
Default:
100
Units:
If Pr-1.10 equals:
Then the Units are measured
in:
1
% of rated continuous current
2
rpm for rotary motors
mm/sec for linear motors
3
Counts
Applicable Operating Mode:
Follower, Analog Velocity, Preset Velocity
Ultraware Link:
Main Velocity Regulator Gains: Integrator Hold Threshold
Range:
0 to 450
Default:
0
Units:
rpm for rotary motors
mm/sec for linear motors
Applicable Operating Mode:
Follower
Ultraware Link:
Main Position Regulator Gains: High Error Output Offset
Range:
0 to 50000
Default:
1000
Units:
Counts
Applicable Operating Mode:
Follower
Ultraware Link:
Main Position Regulator Gains: High Error Output Threshold
Range: Value
Description
0x0 High
bandwidth
0x1
Medium bandwidth (0.6667 * high)
0x2
Low bandwidth (0.3334 * high)
Default:
0x0
Applicable Operating Mode:
All
Ultraware Link:
Main Current Regulator Gains: Gain
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