AB Quality Allen-Bradley 1394 User Manual page 148

8-12 Configuring Your 1394 Analog Servo System
[Feed Fwd Gain]
Controls the negative feedforward gain of the
velocity command contribution to the velocity
regulator torque loop. Setting this to a value
greater than zero reduces the velocity feedback
overshoot in response to a step change in the
velocity reference. The velocity loop response to
a load disturbance is unaffected by the Feed
Forward Gain. The default value will be
satisfactory in most cases.
[Hardware Version]
This parameter specifies the revision level of the
system module hardware.
[I(t) Cur Lim]
This parameter displays the present level of the
I(t) current limit for this axis.
[Id Cur Ref]
This parameter displays the present level of the
Id current reference for this axis.
[Id RPM End]
This parameter determines the velocity at which
maximum Id current will be applied. It is
automatically changed when a motor is selected
by [Motor Type].
Note: Before making modifications to Mtr Data
parameters, [Motor Type] must be set to "custom
motor".
[Id RPM Start]
This parameter determines the velocity at which
Id current will start to be applied. It is
automatically changed when a motor is selected
be [Motor Type].
Note: Before making modifications to Mtr Data
parameters, [Motor Type] must be set to "custom
motor".
Publication 1394-5.0 — May 2000
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Change While Running
Linkable
Minimum Value
Maximum Value
Default Value
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Linkable
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Linkable
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Linkable
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Change While Running
Linkable
Minimum Value
Maximum Value
Default Value
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Change While Running
Linkable
Minimum Value
Maximum Value
Default Value
376, 377, 378, 379
Vel Loop Data
None
Read/Write
Yes
No
0% of [Vel Command]
100% of [Vel Command]
0
25
Monitor Parms
None
Read Only
No
344, 345, 346, 347
Linear List
amps
Read Only
No
236, 237, 238, 239
Torq Data
amps
Read Only
No
176, 177, 178, 179
Mtr Data
rpm
Read/Write
Yes
No
0.0 rpm
8000.0 rpm
This is determined by the motor catalog number.
172, 173, 174, 175
Mtr Data
rpm
Read/Write
Yes
No
0.0 rpm
5600.0 rpm
This is determined by the motor catalog number.