User Manual

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Rockwell Automation Publication 20P-UM001K-EN-P - July 2014 119

Programming and Parameters Chapter 3

Speed Command Limits

[Minimum Speed] 1

[Min Speed Fwd] 5

[Min Speed Rev] 6

[Maximum Speed] 2

[Max Speed Fwd] 3

[Max Speed Rev] 4

Discrete Speeds

[Jog Speed] 266

[Jog Off Delay] 1409

[Preset Speed 1] 154

[Preset Speed 2] 155

[Preset Speed 3] 156

[Preset Speed 4] 157

[Preset Speed 5] 158

[Preset Speed 6] 159

[Preset Speed 7] 160

[TB Manual Ref] 267

Speed References

[Trim Ramp] 42

[Trim Ramp Pct] 378

[Trim Speed] 43

[Trim Speed Pct] 379

[Speed Ratio] 1017

Speed Regulator

[Speed Reg En] 242

(1)

[Spd Reg Kp] 87

[Spd Reg Ki] 88

[Total Inertia] 433

[Spd Reg BW] 434

[Act Spd Reg BW] 435

[Spd Reg Damping] 436

[Spd Reg Kp Outpt] 99

[Spd Reg Ki Outpt] 100

[Spd Reg Pos Lim] 95

[Spd Reg Neg Lim] 96

[SpdOut FiltGain] 238

[SpdOut FiltBW] 239

[Speed Thresh Pos] 101

[Speed Thresh Neg] 102

[Threshold Delay] 103

[At Speed Error] 104

[At Speed Delay] 105

[Ref Zero Level] 106

[Speed Zero Level] 107

[Speed Zero Delay] 108

[Spd Zero I En] 123

[Spd Ref Zero En] 124

[Spd Zero P En] 125

[Spd Zero P Gain] 126

[Lock Speed Integ] 348

[Flying Start En] 388

[SpdReg AntiBckup] 643

[Spd Reg P Filter] 444

[Spd Up Gain Pct] 445

[Speed Up Base] 446

[Speed Up Filter] 447

[SpdReg Kp Bypass] 459

[SpdReg Ki Bypass] 460

[SpdReg BW Bypass] 448

[SpdFuncSelect] 1016

(1) This parameter available for use with firmware version 2.005 and lower only.

Dynamic Control Control Config

[Spd Trq Mode Sel] 241 [SLAT Err Stpt] 15 [SLAT Dwell Time] 16

Ramp Rates

[Speed Ramp En] 245

[Ramp Type Select] 18

[Accel Time 1] 660

[Decel Time 1] 662

[Accel Time 2] 24

[Decel Time 2] 32

[MOP Accel Time] 22

[MOP Decel Time] 30

[Jog Ramp Time] 1410

[S Curve Time] 19

[S Curve Accel 1] 665

[S Curve Decel 1] 666

[S Curve Accel 2] 667

[S Curve Decel 2] 668

[Ramp Delay] 20

[Zero Ramp Output] 344

[Zero Ramp Input] 345

[Freeze Ramp] 373

Load Limits

[Enable Droop] 699

[Droop Percent] 696

[Droop Filter] 697

[Droop Limit] 700

[Load Comp] 698

[Torq Red CurLim] 13

[Torq Limit Type] 715

Stop Modes

[Fast Stop Time] 38

[Spd 0 Trip Delay] 627

[Closing Speed] 1262

[Opening Delay] 1263

[Ramp In Zero En] 1265

[Actuator Delay] 1266

Restart Modes

[Start At Powerup] 1344 [Powerup Delay] 1345

Adaptv Regulator

[Adaptive Spd En] 181

[Adaptive Reg Typ] 182

[Adaptive Ref] 183

[Adaptive Spd 1] 184

[Adaptive Spd 2] 185

[Adaptive Joint 1] 186

[Adaptive Joint 2] 187

[Adaptive P Gain1] 188

[Adaptive I Gain1] 189

[Adaptive P Gain2] 190

[Adaptive I Gain2] 191

[Adaptive P Gain3] 192

[Adaptive I Gain3] 193

File Group Parameters

Speed Command

Dynamic Control