Rockwell Automation Publication 750-PM001N-EN-P - February 2017 143
Drive Port 0 Parameters Chapter 3
File
Group
No. Display Name
Full Name
Description
Values
Read-Write
Data Type
POSITION CONTROL
Position Reg
830 PsnNtchFltrFreq
Position Notch Filter Frequency
Sets the center frequency of the position notch filter.
Units:
Default:
Min/Max:
Hz
0.00
0.00 / 500.00
RW Real
831 PsnNtchFltrDepth
Position Notch Filter Depth
Sets the depth for the position notch filter. Attenuation is the ratio of the output to the
input at the notch frequency P830 [PsnNtchFltrFreq]. The attenuation of 30 means that
the notch output is 1/30th of the input at the specified frequency.
Calculation: Attenuation = Input / Output
Default:
Min/Max:
50.00
0.00 / 500.00
RW Real
832 Psn Out Fltr Sel
Position Output Filter Select
Selects a type of lead-lag filter for position regulator speed output. This parameter sets
filter gain P833 [Psn Out FltrGain] and bandwidth P834 [Psn Out Fltr BW] according to
the selected type.
“Off” (0) – P833 = 1.000, P834 = 0.00
“Custom” (1) – P833 = user setting, P834 = user setting
Default:
Options:
0 = “Off”
0 = “Off”
1 = “Custom”
RW 32-bit
Integer
833 Psn Out FltrGain
Position Output Filter Gain
Sets lead-lag filter gain. A default value is sets when the filter type selection P832 [Psn
Out Fltr Sel] is not Custom (Option 1). See the filter type selection P832.
Default:
Min/Max:
3.000
–/+5.000
RW Real
834 Psn Out Fltr BW
Position Output Filter Bandwidth
Sets lead-lag bandwidth. A default value is sets when the filter type selection P832 [Psn
Out Fltr Sel] is not Custom (Option 1). See the filter type selection P832.
Units:
Default:
Min/Max:
R/S
50.00
0.00 / 500.00
RW Real
835 Psn Error
Position Error
Indicates actual position error in motor pulse counts as a 32-bit integer. When the
position regulator is not enabled, the value is initialized to zero. When the position
regulator is enabled, the value contains the running value of position error between the
position command P723 [Psn Command] and P836 [Psn Actual].
Default:
Min/Max:
0
–2147483648 / 2147483647
RO 32-bit
Integer
836 Psn Actual
Position Actual
Indicates accumulated motor position as a 32-bit integer. It tracks the position feedback
P847 [Psn Fdbk]. When P721 [Position Control] Bit 4 “Zero Psn” is set, this parameter
accumulates the value of P847 [Psn Fdbk] - the P725 [Zero Position]. When P721
[Position Control] Bit 4 “Zero Psn” is off, this parameter accumulates the value of P847
[Psn Fdbk].
Default:
Min/Max:
0
–2147483648 / 2147483647
RO 32-bit
Integer
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