Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 263
Application Type Kpi Kvi iHold
Basic no no no
Tracking no yes no
Point-Point yes no yes
Const. Spd. no yes no
The next table shows which Feedforward values are applicable based on the
Application Type. Separate bits are defined in the Gain Tuning Configuration
Bits attribute to enable tuning of Velocity Feedforward, Kvff, and Acceleration
Feedforward, Kaff.
Application Type Kvff Kaff
Custom - -
Basic yes no
Tracking yes yes
Point-Point no no
Const. Spd. yes no
Finally, the Torque Low Pass Filter bit enables tuning of the Torque Low Pass
Filter Bandwidth. This bit is set for all Application Types except Custom,
Application Type Torque LP Filter
Custom -
Basic yes
Tracking yes
Point-Point yes
Const. Spd. yes
If Application Type is set to Custom, individual gain calculations can be
controlled directly by the user by changing the bit settings in the Gain Tuning
Configuration Bits attribute. If the Application Type is not Custom, these bit
settings may not be altered, thus maintaining the fixed relationship to the
Application Type as defined in the preceding tables.
Loop Response
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - PV Set/GSV
USINT 1 - - Enumeration:
0 = Low
1 = Medium
2 = High
3-255 = Reserved
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