AB Quality Allen-Bradley 1394 User Manual page 149

[Id Slope]
Determines the amount of Id current (as a
percent of motor rated) that would be required
over a 1000 rpm span. 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".
[Int Torq Ref]
This is a non-volatile torque preset that can be
used as a digital torque reference if linked to [Dig
Torq ref].
Important: Current limits will prevent [Iq Cur Ref]
from exceeding 300%.
[Int Vel Ref]
This is a non-volatile velocity preset that can be
used as a digital velocity reference if linked to
[Vel Ref Whole]. The "sign" of this parameter is
changed by direction change requests.
[Intg Gain Ki]
This parameter controls the integral error gain of
the velocity regulator. For example, if KI = 8, then
velocity (1000 rpm) error for 1 second will
produce a (rated motor) current torque
reference.
For Example: Use Ki to increase servo stiffness
or reduce the amount of overshoot during ramp-
up to the [Velocity Command].
[Iq Cur Ref]
This parameter displays the present level of the
Iq current reference for this axis (after all limiting
has occurred)
[Jog Vel]
This is a jog velocity reference that is used when
jogging the axis. The "sign" of this parameter is
changed by direction change requests and is
automatically changed to 20% of motor rated
velocity when a motor is selected by [Motor
Type].
Configuring Your 1394 Analog Servo System
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
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
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
180, 181, 182, 183
Mtr Data
%/Kr
Read/Write
Yes
No
0.0%/Kr
400.0%/Kr
70.0%/Kr
356, 357, 358, 359
Torq Data
amps
Read/Write
Yes
No
-400% rated motor current
+400% rated motor current
0%
352, 353, 354, 355
Vel Cmd Data
rpm
Read/Write
Yes
No
-8000.0 rpm
+8000.0 rpm
0.0 rpm
372, 373, 374, 375
ATune Config, AnBklsh Conf
None
Read/Write
Yes
No
0
32879
0
232, 233, 234, 235
Monitor Parms, Torq data
amps
Read Only
No
348, 349, 350, 351
Vel Cmd Data
rpm
Read/Write
Yes
No
-1600.0 rpm
+1600.0 rpm
This is determined by the motor catalog number.
8-13
Publication 1394-5.0 — May 2000