Rockwell Automation SA500 Drive Configuration and Programming - Manual (Page 57)

Configuring the UDC Module’s Registers 3-25
Position Loop Damping Factor Register 161/1161
The value in this register is the damping factor which provides
independent control of the position loop’s integral gain. Refer to
appendix C for more information. This value is scaled times 10 so
that a value of 0.7 is entered as 70. Sug. Var. Name: ZETAP%
Sug. Def. Value: 70
Low Limit: 40
High Limit: 800
Step: 1
Position Loop Rate Limit Register 162/1162
The PMI position loop uses the value in this register to limit the
position reference value's rate of change.
Values are entered as the number of counts (register 106/1106) per
second divided by 10 so that a value of 12370 counts per second is
entered as 1237.
Sug. Var. Name: POS_RATE%
Sug. Def. Value: 3276
Low Limit: 1
High Limit: 3276
Step: 1
Position Loop Feedforward Register 163/1163
This register controls the amount of reference signal that is fed
forward to the speed loop. The value is entered as a percentage
(0-300%). Sug. Var. Name: POS_FF%
Sug. Def. Value: 100
Low Limit: 0
High Limit: 300
Step: 1
Position Loop Limit Plus Register 164/1164
This register contains the positive limit of the position loop's velocity
output value. If the output value exceeds the positive limit, bit 4 of
register 200/1200 will be set. Sug. Var. Name: POS_LP%
Sug. Def. Value: 4095
Low Limit: 0
High Limit: 32767
Step: 1
Position Loop Limit Minus Register 165/1165
This register contains the negative limit of the position loop's velocity
output value. If the output value exceeds the negative limit, bit 5 of
register 200/1200 will be set. Sug. Var. Name: POS_LM%
Sug. Def. Value: -4095
Low Limit: -32768
High Limit: 0
Step: 1
Loss Maximum Position Error Register 166/1166
The value in this register specifies the maximum amount of allowable
error between the position reference value and the position feedback
value. The value is entered in counts. When this error value is
exceeded, bit 4 in register 202/1202 will be set. Sug. Var. Name:
POS_ERR_THR
%
Sug. Def. Value: 32767
Low Limit: 0
High Limit: 32767
Step: 1