140 Rockwell Automation Publication 750-PM001N-EN-P - February 2017
Chapter 3 Drive Port 0 Parameters
POSITION CONTROL
Phase Lock Loop
797 PLL Ext Spd Stpt
Phase Locked Loop External Speed Setpoint
Provides external speed reference. This parameter is a velocity feed forward input that is
selected by the external speed select P796 [PLL Ext Spd Sel].
Default:
Min/Max:
0.00
–/+220000000.00
RW Real
798 PLL Ext SpdScale
Phase Locked Loop External Speed Scale
Sets scale factor to the external speed reference selected by the external speed select
P796 [PLL Ext Spd Sel]. This parameter is used to properly scale the velocity feed
forward. Adjust for zero average at the filtered position output P806 [PLL Psn Out Fltr]
while running at moderate speed.
Default:
Min/Max:
1.00
–/+220000000.00
RW Real
799 PLL Psn Ref Sel
Phase Locked Loop Position Reference Select
Selects a position reference source.
Default:
Min/Max:
800
1 / 159999
RW 32-bit
Integer
800 PLL Psn Stpt
Phase Locked Loop Position Setpoint
Provides position reference when the position reference select P799 [PLL Psn Ref Sel]
selects this parameter.
Default:
Min/Max:
0
–2147483648 / 2147483647
RW 32-bit
Integer
801 PLL BW
Phase Locked Loop Bandwidth
Sets internal bandwidth of the PLL function response. The setting for very noisy
mechanical systems could range from 1 to 10 (r/s) while well-behaved high line count
input devices could range upwards of 100 (r/s). Higher bandwidths will quickly resolve
tracking errors while the lower bandwidths will take longer to settle into a steady state.
Some adjustment will be necessary for the best compromise between noise and
tracking response.
Units:
Default:
Min/Max:
R/S
20.00
0.00 / 8000.00
RW Real
802 PLL LPFilter BW
Phase Locked Loop Low Pass Filter Bandwidth
Sets low pass filter bandwidth. The filter has two functions:
• Basic noise reduction of input velocity.
• Timed delay of input when feed forward is provided to an external master reference
other than an input encoder.
The filter low pass bandwidth should be set for best tracking which occurs when the
filter output coincides with the loop filter output of PLL. Usually that means setting its
bandwidth to the bandwidth of the master reference drive.
Units:
Default:
Min/Max:
R/S
50.00
0.00 / 8000.00
RW Real
803 PLL Virt Enc RPM
Phase Locked Loop Virtual Encoder Revolutions Per Minute
Sets RPM of the virtual output device. The value determines the 1 P.U. velocity for the
speed out P807 [PLL Speed Out] and does not affect performance.
Units:
Default:
Min/Max:
RPM
1750.00
1.00 / 40000.00
RW Real
804 PLL EPR Input
Phase Locked Loop Edges Per Revolution Input
Sets edges per revolution of the physical input device. Using the highest line count
device possible smooths PLL operation.
Default:
Min/Max:
1048576
1 / 67108864
RW 32-bit
Integer
805 PLL Rvls Input
Phase Locked Loop Revolutions Input
Sets revolution of the input encoder. This parameter must be coordinated with the
revolution of the output encoder P812 [PLL Rvls Output] to resolve the gear-ratio
between input revolutions and output (virtual) revolutions. The ratio of input to output
revolutions can always be resolved into integer values and should be reduced to their
lowest common factor.
Default:
Min/Max:
1
1 / 1000000
RW 32-bit
Integer
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No. Display Name
Full Name
Description
Values
Read-Write
Data Type
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