AB Quality Allen-Bradley 1394 User Manual page 154

8-18 Configuring Your 1394 Analog Servo System
[Option x Code]
Used for software options
Option 0 = Antibacklash
Option 1 = Future
Option 2 = Future
Option 3 = Future
[Option x Status]
Present status of a software option (enabled/
disabled). Once enabled via the [Option x Code]
the status will be stored in non-volatile memory
for future use.
[Pos Cur Lim]
Specifies the maximum allowable positive motor
current that can be commanded.
Important: Setting this parameter to a value
other than default will limit motor output torque
in CW direction. Automatically changed when
[Current Limit] (parameter 116) is changed.
For Example: If the value equals 100%, the Axis
Module will not deliver more than 100% to motor,
thus peak torque is limited to 100%.
[Prop Gain Kp]
This parameter controls the proportional error
gain of the velocity regulator. For example, if
KP = 1, then velocity error of 1000 rpm will
produce a (rated motor) current torque
reference.
Increase this value to attain a stiffer, more
precise response.
[Pwr On Days]
Displays the number of days that the drive has
had control power applied.
[Pwr On Minutes]
Displays the number of minutes that the drive has
presently had control power applied.
[Rem. Data In/Out:Ax]
This series of parameters represent linkable
inputs and outputs to the SCANport Type 4/5/6/
7 DataLink inputs and outputs.
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
Selections 0
1
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
Linkable
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Linkable
30, 32, 34, 36
Linear List
None
Read/Write
Yes
No
0
65535
0
31, 33, 35, 37
Linear List
None
Read Only
No
"Disabled"
"Enabled"
184, 185, 186, 187
Torq Data
amps
Read/Write
Yes
No
10% rated motor current
300% rated motor current or 2 times drive rating
(whichever is less)
300% rated motor current
368, 369, 370, 371
Vel Loop Tune, AnBklsh Conf
None
Read/Write
Yes
No
0
1024
0
91
Linear List
None
Read Only
No
90
Linear List
None
Read Only
No
70-85
Linear List
None
Read Only
In=No, Out=Yes