Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 97
MotionView Software Configuration Chapter 5
Dynamics Category
The Dynamics category provides access to the configuration of the modifiable
dynamics parameters.
Click Autotuning to begin autotuning.
Table 47 - Dynamics Category
See the Servo Loop diagram on page 98 for more information on these
parameters.
ID Parameter Name Description Value/Notes
44 Velocity P-Gain The proportional and integral gain (respectively) of the velocity loops.
Gains are based on counts as the fundamental units and they are not
physical units.
Range: 0…32767
45 Velocity I-Gain Range: 0…32767
46 Position P-Gain The proportional, integral, and derivative gain (respectively) of the
position loops. Gains are based on counts as the fundamental units and
they are not physical units.
Range: 0…32767
47 Position I-Gain Range: 0…16383
48 Position D-Gain Range: 0…32767
49 Position I-Limit A clamping limit on the position loop I-gain compensator to prevent
excessive torque overshooting caused by an over accumulation of the I-
Gain.
Range: 0…20000
51 Gain Scaling A 2x factor applied to the gains in the velocity loop useful for scaling the
gains when using encoders with a high number of counts per revolution.
Range: -16…+4
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