User manual

Publication 2092-UM001D-EN-P — July 2005
D-18 Ultra1500 Operator Interface
Pr-1.11 Main Velocity Regulator Gains: Integrator Hold Threshold
Pr-1.12 Main Position Regulator Gains: High Error Output Offset
Pr-1.13 Main Position Regulator Gains: High Error Output Threshold
Pr-1.14 Main Current Regulator Gains: Gain
Range: 0 to 3000
Default: 100
Units: If Pr-1.10 equals:
Then the Units are measured
in:
1 % of rated continuous current
2
rpm for rotary motors
mm/sec for linear motors
3 Counts
Applicable Operating Mode: Follower, Analog Velocity, Preset Velocity
Ultraware Link: Main Velocity Regulator Gains: Integrator Hold Threshold
Range: 0 to 450
Default: 0
Units:
rpm for rotary motors
mm/sec for linear motors
Applicable Operating Mode: Follower
Ultraware Link: Main Position Regulator Gains: High Error Output Offset
Range: 0 to 50000
Default: 1000
Units: Counts
Applicable Operating Mode: Follower
Ultraware Link: Main Position Regulator Gains: High Error Output Threshold
Range: Value Description
0x0 High bandwidth
0x1 Medium bandwidth (0.6667 * high)
0x2 Low bandwidth (0.3334 * high)
Default: 0x0
Applicable Operating Mode: All
Ultraware Link: Main Current Regulator Gains: Gain