Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 55)

Publication 2098-RM002A-EN-P – October 2001
Programming Reference 4-31
96 Set Vreg Bandwidth REAL 4 Hertz Lowpass output filter bandwidth. Valid values
range from 0 Hz to 2000 Hz. Bandwidth reduces
noise generated by encoder resolution or
mechanical resonance in the system. Setting to
zero disables filtering
Range: 0 to 2000
Default: 0
97 Set Vreg Upper Limit REAL 4 Amps The maximum positive current the drive may
output to the motor.
Range: 0 to 3.4e10
Default: 30
98 Set Vreg Lower Limit REAL 4 Amps The maximum negative current the drive may
output to the motor.
Range: -3.4e10 to 0
Default: -30
99 Get Vreg Command
Velocity
REAL 4 cnts/ sec The command velocity input to the velocity loop.
100 Get Vreg Command
Accel
REAL 4
cnts/ sec
2 The command acceleration input to the velocity
loop.
101 Get Vreg Feedback
Velocity
REAL 4 cnts/ sec The feedback velocity returned from the motor to
the velocity loop.
102 Get Vreg Error REAL 4 cnts/ sec The difference between Command Velocity and
Feedback Velocity.
103 Get Vreg Error Sum REAL 4 cnts/ sec The velocity error summation used by integral
gain.
104 Get Vreg Output REAL 4 Amps The generated output from the velocity loop.
105 Get Vreg Tune State USINT 1 Indicates the state of the velocity tuning function.
0 = Idle
1 = Running
2 = Stopping
106 Set Start Vreg Tune USINT 1 Drives the motor with a square (or step) wave, the
shape of which is determined by the commanded
Vreg Tune Step, Vreg Tune Period, and Vreg Tune
Direction.
0 = No Action (default)
1 = Execute Command
107 Set Stop Vreg Tune USINT 1 Stops velocity tuning.
0 = No Action (default)
1 = Execute Command
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description