144 Rockwell Automation Publication 750-PM001N-EN-P - February 2017
Chapter 3 Drive Port 0 Parameters
POSITION CONTROL
Position Reg
837 Psn Load Actual
Position Load Actual
Indicates accumulated output of the load gear ratio as a 32-bit integer and forms the
primary feedback for the position regulator integral channel. It is very important that
the load gear ratio be precisely set such that the delta pulse count of one motor
revolution equals the delta pulse count of this parameter.
Default:
Min/Max:
0
–2147483648 / 2147483647
RO 32-bit
Integer
838 Psn Reg Ki
Position Regulator Ki
Sets position regulator integral gain as measured from position error to velocity
reference. The value has gain units of (P.U. velocity/second) / (P.U. position) and is unit
compatible with the position regulator proportional gain P839 [Psn Reg Kp]. An integral
gain of 25 means that a per unit position error of 0.1 seconds will effect a 2.5 P.U. speed
change per second.
Default:
Min/Max:
4.00
0.00 / 25000.00
RW Real
839 Psn Reg Kp
Position Regulator Kp
Sets position regulator gain as measured from position error to speed reference. The
gain number is identically equal to position regulator bandwidth in radians/second. For
example: A gain of 10 means that a P.U. position error of 0.1 seconds will effect a 1.0 P.U.
speed change (1 per unit position error is the distance traveled in 1 second at base motor
speed). The typical value of this parameter is typically 1/3 of the speed bandwidth
(radians/second) but may be set considerably higher with careful tuning of the speed
regulator output lead/lag filter.
Units:
Default:
Min/Max:
R/S
4.00
0.00 / 2000.00
RW Real
840 PReg Pos Int Lmt
Position Regulation Positive Integral Limit
Sets positive limit of the position regulator integral output.
A value of 100% is equal to parameter 28 [Motor NP RPM].
Units:
Default:
Min/Max:
%
100.00
0.00 / 800.00
RW Real
841 PReg Neg Int Lmt
Position Regulation Negative Integral Limit
Sets negative limit of the position regulator integral output.
A value of 100% is equal to parameter 28 [Motor NP RPM].
Units:
Default:
Min/Max:
%
–100.00
–800.00 / 0.00
RW Real
842 PsnReg IntgrlOut
Position Regulation Integral Output
Indicates output of the position regulator integral channel after the limit function.
Units:
Default:
Min/Max:
Hz
RPM
0.00
–/+P27 [Motor NP Hertz] x 8
–/+P28 [Motor NP RPM] x 8
RO Real
843 PsnReg Spd Out
Position Regulation Speed Output
Indicates final output of the position regulator.
Units:
Default:
Min/Max:
Hz
RPM
0.00
–/+P27 [Motor NP Hertz] x 8
–/+P28 [Motor NP RPM] x 8
RO Real
844 PReg Pos Spd Lmt
Position Regulation Positive Speed Limit
Sets positive speed limit of total position regulator output.
A value of 100% is equal to parameter 28 [Motor NP RPM].
Units:
Default:
Min/Max:
%
10.00
0.00 / 800.00
RW Real
845 PReg Neg Spd Lmt
Position Regulation Negative Speed Limit
Sets negative speed limit of total position regulator output.
A value of 100% is equal to parameter 28 [Motor NP RPM].
Units:
Default:
Min/Max:
%
–10.00
–800.00 / 0.00
RW Real
File
Group
No. Display Name
Full Name
Description
Values
Read-Write
Data Type
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