Motion Configuration Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 309
Axis Parameter Data Type Units Meaning
Damping Factor Real - Damping Factor used to calculate
the gains.
Tuning Velocity Real pos units/sec Top Speed of Tuning Profile.
Tune Accel Real pos units/sec
2
Calculated Acceleration Time of
Tuning Profile.
Tune Decel Real pos units/sec
2
Calculated Deceleration Time of
Tuning Profile.
Effective Inertia Real mV/KCPS
2
Computed Effective Inertia of
Drive/Motor system.
Position Servo Bandwidth Real Hertz Maximum Position Servo Loop
Bandwidth.
The axis configuration parameters that MAAT generates as output depend on the
External Drive configuration. If the External Vel Servo Drive configuration bit
parameter is TRUE, indicating interface to an external velocity servo drive, the
following output parameters are generated.
Axis Parameter Data Type Units Meaning
Pos Proportional Gain Real 1/msec Position Servo Loop Proportional
Gain.
Pos Integral Gain Real 1/msec
2
Position Servo Loop Integral Gain --
Set to Zero.
Velocity Feedforward Real - Position Servo Loop Proportional
Gain.
Acceleration Feedforward Real - Velocity Command Feedforward --
Set to Zero.
Max Speed Real pos units/sec Maximum Speed for Motion
Profiles – Set to Tuning Velocity
Max Acceleration Real pos units/sec
2
Maximum Acceleration for Motion
Profiles
Max Deceleration Real pos units/sec
2
Maximum Deceleration for Motion
Profiles
Output Filter Bandwidth Real Hertz Bandwidth of Low Pass Servo
Output Filter
Output Scaling Real mV/ KCPS Scale Factor applied to output of
the Position Servo Loop to the DAC.
Position Error Tolerance Real pos units Maximum Servo Loop Position
Error allowed without Fault.
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