Allen-Bradley 1394 - Page 154

Publication 1394-5.0 — May 2000
8-18 Configuring Your 1394 Analog Servo System
[Option x Code]
Used for software options
Option 0 = Antibacklash
Option 1 = Future
Option 2 = Future
Option 3 = Future
Parameter Numbers 30, 32, 34, 36
Parameter Group Linear List
Display Units None
Parameter Type Read/Write
Change While Running Ye s
Linkable No
Minimum Value 0
Maximum Value 65535
Default Value 0
[Option x Status]
Present status of a software option (enabled/
disabled). Once enabled via the [Option x Code]
the status will be stored in non-volatile memory
for future use.
Parameter Numbers 31, 33, 35, 37
Parameter Group Linear List
Display Units None
Parameter Type Read Only
Linkable No
Selections 0 "Disabled"
1 "Enabled"
[Pos Cur Lim]
Specifies the maximum allowable positive motor
current that can be commanded.
Important: Setting this parameter to a value
other than default will limit motor output torque
in CW direction. Automatically changed when
[Current Limit] (parameter 116) is changed.
For Example: If the value equals 100%, the Axis
Module will not deliver more than 100% to motor,
thus peak torque is limited to 100%.
Parameter Numbers 184, 185, 186, 187
Parameter Group To r q D a t a
Display Units amps
Parameter Type Read/Write
Change While Running Ye s
Linkable No
Minimum Value 10% rated motor current
Maximum Value 300% rated motor current or 2 times drive rating
(whichever is less)
Default Value 300% rated motor current
[Prop Gain Kp]
This parameter controls the proportional error
gain of the velocity regulator. For example, if
KP = 1, then velocity error of 1000 rpm will
produce a (rated motor) current torque
reference.
Increase this value to attain a stiffer, more
precise response.
Parameter Numbers 368, 369, 370, 371
Parameter Group Vel Loop Tune, AnBklsh Conf
Display Units None
Parameter Type Read/Write
Change While Running Ye s
Linkable No
Minimum Value 0
Maximum Value 1024
Default Value 0
[Pwr On Days]
Displays the number of days that the drive has
had control power applied.
Parameter Numbers 91
Parameter Group Linear List
Display Units None
Parameter Type Read Only
Linkable No
[Pwr On Minutes]
Displays the number of minutes that the drive has
presently had control power applied.
Parameter Numbers 90
Parameter Group Linear List
Display Units None
Parameter Type Read Only
Linkable No
[Rem. Data In/Out:Ax]
This series of parameters represent linkable
inputs and outputs to the SCANport Type 4/5/6/
7 DataLink inputs and outputs.
Parameter Numbers 70-85
Parameter Group Linear List
Display Units None
Parameter Type Read Only
Linkable In=No, Out=Yes