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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
71
Standard Drive Parameters Appendix A
[Pr - 1.14]
2nd Resonant Frequency Suppression Filter Depth
Ultraware Name
Main Current Regulator Gains: 2nd Resonant Frequency 
Suppression Filter Depth
Description
Set up the 2nd notch depth of the resonance suppressing 
filter. The higher the setup, the shallower the notch depth 
and the smaller the phase delay you can obtain.
Range
0…100
Default
100
Units
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
114 
[Pr - 1.15]
Position Regulator Kff gain
Ultraware Name
Main Position Regulator Gains: Kff
Range
0…100
Default
0
Units
%
When Enabled 
Immediately 
Applicable Operating Mode 
Follower 
Modbus Address
115 
[Pr - 1.16]
Position Regulator Kff Bandwidth
Ultraware Name
Main Position Regulator Gains: Kff Low Pass Filter 
Bandwidth
Range
0…2500
Default
200
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
Follower 
Modbus Address
116 
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72
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 1.17]
Velocity Regulator I Gain Mode 
Ultraware Name
Main Velocity Regulator Gains: I Gain Mode
Description
During transient response, Speed Response Overshoot can 
be suppressed by a speed controller change from a 
Proportional Integral (PI) controller into a Proportional (P) 
controller. It reduces position completion time during 
position control.
Range
Value 
Description
0x0
Do not use P/PI Mode 
Conversion.
0x1
When Current Command 
exceeds Current Value in 
[Pr - 1.18], Speed 
Controller is changed from 
PI Controller to P Controller.
0x2
When Speed Command 
exceeds Speed Value in 
[Pr - 1.18]
, Speed 
Controller is changed from 
PI Controller to P Controller.
0x3
When Position error 
exceeds Position error 
Value in [Pr-1.18]
, Speed 
Controller is changed from 
PI Controller to P Controller.
0x4
Automatically velocity 
controller is changed from 
PI Controller to P Controller.
Default
0
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
All 
Modbus Address
117 
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
73
Standard Drive Parameters Appendix A
[Pr - 1.18]
Velocity Regulator I Gain Disable Threshold
Ultraware Name
Main Velocity Regulator Gains: I Gain Disable Threshold
Range
0…3000
Default
100
Units
If [Pr - 1.17] = 1, units are % of rated continuous current
If [Pr - 1.17] = 2, units are rotary motors: rpm; linear 
motors: mm/s
If [Pr - 1.17] = 3, units are Counts
When Enabled 
Follower, Analog Velocity, Preset
Applicable Operating Mode 
Immediately
Modbus Address
118 
[Pr - 1.19]
Position Regulator High Error Output Offset
Ultraware Name
Main Position Regulator Gains: High Error Output Offset
Range
0…450
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
All 
Applicable Operating Mode 
Immediately
Modbus Address
119 
[Pr - 1.20]
Position Regulator High Error Output Threshold 
Ultraware Name
Main Position Regulator Gains: High Error Output 
Threshold
Range
0…50,000
Default
1000
Units
Counts
When Enabled 
All 
Applicable Operating Mode 
Immediately
Modbus Address
120 
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74
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 1.21]
Current Regulator Bandwidth Reduction Scale
Ultraware Name
Main Current Regulator Gains: Gain
Range 
Value
Description
0x0
High bandwidth 
0x1
Medium bandwidth 
(0.6667 * high)
0x2
Low bandwidth (0.3334 * 
high)
Default
0x1
When Enabled 
All 
Applicable Operating Mode 
Immediately
Modbus Address
121 
[Pr - 1.22]
On-line Vibration Mode
Data Size 
1 digits
Digit 0
On-line Vibration Suppression Mode
Ultraware Name
On-line Vibration Suppression Mode
Range
Value
Description
0x0
Disable
0x1
Normal and High Velocity 
Mode
0x2
Slow Velocity Mode 
without initial value
Default
0x0
Digit 1
On-line Vibration Suppression Gain
Ultraware Name
On-line Vibration Suppression Gain
Range
Value
Description
0x0
Low
0x1
High
Default
0x0
When Enabled 
All 
Applicable Operating Mode 
Servo-Off -> Setting
Modbus Address
122 
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
75
Standard Drive Parameters Appendix A
[Pr - 1.23]
Velocity Regulator Configuration
Applicable Operating Mode
All
Data Size 
1 digits
Digit 0
Velocity Command Filter on Follower
Ultraware Name
Velocity Command Filter on Follower
Range
Value
Description
0x0
Disable
0x1
Enable
Default
0x0
When Enabled 
Immediately 
Applicable Operating Mode 
Servo-Off -> Setting
Modbus Address
123 
[Pr - 1.24]
Delay Time of Gain Switching
Ultraware Name
Gain Switching: Delay Time of Gain Switching
Range
0…10,000
Default
0
Units
X 200 μs
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
124 
[Pr - 1.25]
Level of Gain Switching
Ultraware Name
Gain Switching: Level of Gain Switching
Range
0…10,000 
Default
Units
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
125 
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76
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 1.26]
Hysteresis of Gain Switching
Ultraware Name
Gain Switching: Hysteresis of Gain Switching
Range
0…10,000 
Default
0
Units
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
126 
[Pr - 1.27]
Position Gain Switching Time
Ultraware Name
Gain Switching: Level of Gain Switching
Range
0…10,000
Default
0
Units
x 200 μs
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
127 
[Pr - 1.28]
2nd Velocity Regulator P Gain
Ultraware Name
2nd Regulator Gain: P
Range
0…10,000
Default
60
Units
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
128 
[Pr - 1.29]
2nd Velocity Regulator I Gain
Ultraware Name
2nd Regulator Gain: Integrator Gain
Range
0…60,000
Default
26
Units
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
129 
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
77
Standard Drive Parameters Appendix A
[Pr - 1.30]
2nd Position Regulator Kp Gain
Ultraware Name
2nd Regulator Gain: Kp
Range
0…700
Default
20
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
Position 
Modbus Address 
130 
[Pr - 1.31]
2nd Current Command Lowpass Filter Bandwidth
Ultraware Name
2nd Regulator Gain: Low Pass Bandwidth (IReg)
Range
0…10,000
Default
300
Units
Hz
When Enabled 
Immediately
Applicable Operating Mode 
All 
Modbus Address
131 
[Pr - 1.32]
2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name
2nd Regulator Gain: Low Pass Bandwidth (VReg)
Range
0…10,000
Default
1000
Units
Hz
When Enabled 
Immediately
Applicable Operating Mode 
All 
Modbus Address
132 
[Pr - 1.33]
3rd Velocity Regulator P Gain
Ultraware Name
3rd Regulator Gain: P Gain 
Range
0…10,000
Default
60
Units
When Enabled 
Immediately
Applicable Operating Mode 
Follower, Analog Velocity, Preset
Modbus Address
133 
78
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 1.34]
3rd Velocity Regulator I Gain
Ultraware Name
3rd Regulator Gain: Integrator Gain
Range
0…60,000
Default
26
Units
When Enabled Immediately
Immediately
Applicable Operating Mode 
Follower, Analog Velocity, Preset
Modbus Address
134 
[Pr - 1.35]
3rd Position Regulator Kp Gain
Ultraware Name
3rd Regulator Gain: Kp
Range
0…700
Default
20
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
Position 
Modbus Address
135 
[Pr - 1.36]
3rd Current Command Lowpass Filter Bandwidth
Ultraware Name
3rd Regulator Gain: Low Pass Bandwidth (IReg)
Range
0…10,000
Default
300
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
136 
[Pr - 1.37]
3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name
3rd Regulator Gain: Low Pass Bandwidth (VReg)
Range
0…10,000
Default
1000
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
137 
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
79
Standard Drive Parameters Appendix A
[Pr - 1.38]
4th Velocity Regulator P Gain
Ultraware Name
4th Regulator Gain: P
Range
0…10,000
Default
60
Units
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset
Modbus Address
138 
[Pr - 1.39]
4th Velocity Regulator I Gain
Ultraware Name
4th Regulator Gain: Integrator Gain
Range
0…60,000
Default
26
Units
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity, Preset
Modbus Address
139 
[Pr - 1.40]
4th Position Regulator Kp Gain
Ultraware Name
4th Regulator Gain: Kp
Range
0…700
Default
20
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
Position 
Modbus Address
140 
[Pr - 1.41]
4th Current Command Lowpass Filter Bandwidth
Ultraware Name
4th Regulator Gain: Low Pass Bandwidth (IReg)
Range
0…10,000
Default
300
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
141 
80
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 1.42]
4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 
4th Regulator Gain: Low Pass Bandwidth (VReg)
Range
0…10,000
Default
1000
Units
Hz
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
142 
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