112 Rockwell Automation Publication 520-UM001A-EN-E - February 2013
Chapter 3 Programming and Parameters
Advanced Program Group (continued)
A535 [Motor Fdbk Type] Related Parameter(s): A537
Stop drive before changing this parameter.
Selects the encoder type.
Allowable Control Modes Hardware Inputs
Options 0 “None” (Default) For all motor types –
1 “Pulse Train” All except Vector [DigIn TermBlk 07]
2“Single Chan” All except Vector
Optional incremental encoder card
(catalog number 25-ENC-1)
3 “Single Check” All except Vector
4 “Quadrature” For all motor types
5 “Quad Check” For all motor types
ATTENTION: The loss of analog input, encoder or other feedback may cause unintended speed or motion. Take appropriate precautions to guard against
possible unintended speed or motion.
A536 [Encoder PPR]
Specifies the encoder Pulses Per Revolution (PPR) when an encoder is used.
Values Default: 1024 PPR
Min/Max: 0/20000 PPR
Display: 1 PPR
A537 [Pulse In Scale] Related Parameter(s): A535
Sets the scale factor/gain for the Pulse Input when A535 [Motor Fdbk Type] is set to 1 “Pulse Train”.
Values Default: 64
Min/Max: 0/20000
Display: 1
A538 [Ki Speed Loop]
Sets the I-gain used in the PI calculation of the speed loop when feedback is used.
Values Default: 2.0
Min/Max: 0.0/400.0
Display: 0.1
A539 [Kp Speed Loop]
Sets the P-gain used in the PI calculation of the speed loop when feedback is used.
Values Default: 5.0
Min/Max: 0.0/200.0
Display: 0.1
A540 [Var PWM Disable] Related Parameter(s): A440
Stop drive before changing this parameter.
Enables/disables a feature that varies the carrier frequency for the PWM output waveform defined by A440 [PWM Frequency].
Options 0 “Enabled” (Default)
1“Disabled”
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