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Rockwell Automation SA500 Drive Configuration and Programming User Manual

Page 56

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SA500 Drive Configuration and Programming

3.4.2 Position Loop Gain Variables

Notch Filter Center Frequency Register

154/1154

The value in this register specifies the center frequency which is to
be rejected by the speed loop’s notch filter. The value (in rad/sec) is
scaled times 10 so that a value of 10 rad/sec is entered as 100.

Sug. Var. Name:

NTCH_W%

Sug. Def. Value:

10000

Low Limit:

0

High Limit:

13000

Step:

1

Notch Filter Q Factor Register

155/1155

The value in this register is divided into the notch filter center
frequency (NTCH_W%) to specify the bandwidth of the speed loop’s
notch filter.

Sug. Var. Name:

NTCH_Q%

Sug. Def. Value:

50

Low Limit:

0

High Limit:

2000

Step:

1

This value (in rad/sec) is scaled times 10, so that a value of 10 rad/sec is entered as 100.

Bandwidth

NTCH_W%

NTCH_Q%

-------------------------------

=

Tach Loss Maximum Velocity Error Register

156/1156

This register contains the speed loop's maximum allowable velocity
error. The value is entered in counts and must be within the positive
and negative limits where 4095 is equal to the motor’s rated full load
speed. If the value exceeds the positive and negative limits, bit 5 of
register 202/1202 will be set.

Sug. Var. Name:

SPD_ERR_THR

%

Sug. Def. Value:

32767

Low Limit:

0

High Limit:

32767

Step:

1

Speed Loop Inertia Scaling Register

157/1157

This register contains the PMI speed loop's inertia scaling value. The
PMI speed loop uses this value in conjunction with local tunable
J-BAR (J_BAR%) to calculate the amount of time it will take the
motor to reach maximum speed at the maximum current. The value
is scaled times 1000, so that a value of 1.052 is entered as 1052.

Sug. Var. Name:

J_SCALE%

Sug. Def. Value:

1000

Low Limit:

1

High Limit:

32767

Step:

1

The local tunable (J_BAR%) value is also scaled times 1000, so that a value of 50 msec. is entered as 50.
J_BAR% is multiplied by the scaling value for inertia compensation. For example, if J_BAR% equals 50 and
J_SCALE% equals 1052, then.05 x 1.052 equals a system J-BAR value of 52.6 msec.

Position Loop Crossover Frequency Register

160/1160

The value in this register is the crossover frequency of the PMI
position loop. It specifies the time required to reach the desired motor
shaft position and adjusts the overall gain of the position loop. The
value (in rad/sec) is scaled times 10 so that a value of 1 rad/sec is
entered as 10.

Sug. Var. Name:

WCOP%

Sug. Def. Value:

10

Low Limit:

0

High Limit:

10000

Step:

1