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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
81
Standard Drive Parameters Appendix A
Group 2 - Speed Control 
[Pr - 2.00]
Velocity Scale
Ultraware Name
Velocity Scale
Internal Value
(1)
(1) Internal Value used for Modbus reading and writing functions
Display Value
Range
100...20,000
10.0...2000.0
Default
5000
500.0
Units
Rotary motors: 0.1 rpm/V 
Linear motors: 0.1 mm/s/V 
Rotary motors: rpm/V
Linear motors: mm/s/V
When Enabled 
Servo-Off -> Setting
Applicable Operating Mode 
Analog Velocity
Modbus Address
200 
[Pr - 2.01]
Jog Velocity Command
Ultraware Name
Velocity Control Panel: Velocity Command
Range
0…6000
Default
50
Units
Rotary motors: rpm; Linear motors: mm/s 
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
201 
[Pr - 2.02]
Acceleration
Ultraware Name
Acceleration Limits: Acceleration
Range
1…2,147,483,647
Default
41,667
Units
Rotary motors: 10
-2
*rev/s
2
; Linear motors: mm/s
2
When Enabled 
Immediately 
Applicable Operating Mode 
Analog Velocity Input, Preset Velocity 
Modbus Address
Pr-2.02[Lo] = 202, Pr-2.02[Hi] = 203 
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82
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 2.03]
Deceleration
Ultraware Name
Acceleration Limits: Deceleration
Range
1…2,147,483,647
Default
41667
Units
Rotary motors: 10
-2
*rev/s
2
; Linear motors: mm/s
2
When Enabled 
Immediately 
Applicable Operating Mode 
Analog Velocity Input, Preset Velocity 
Modbus Address
Pr-2.03[Lo] = 204, Pr-2.03[Hi] = 205 
[Pr - 2.04]
S-Curve Time
Ultraware Name
Acceleration Limits: S-Curve Time
Range
0…5000
Default
0
Units
Milliseconds
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
206
[Pr - 2.05]
Preset Velocity 1
Ultraware Name
Preset Velocity 1
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
207
Pr - 2.06]
Preset Velocity 2
Ultraware Name
Preset Velocity 2
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
208 
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
83
Standard Drive Parameters Appendix A
Pr - 2.07]
Preset Velocity 3
Ultraware Name
Preset Velocity 3
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
209 
[Pr - 2.08]
Preset Velocity 4
Ultraware Name
Preset Velocity 4
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
210 
[Pr - 2.09]
Preset Velocity 5
Ultraware Name
Preset Velocity 5
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
211
[Pr - 2.10]
Preset Velocity 6
Ultraware Name
Preset Velocity 6
Control Index
6
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
212 
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84
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 2.11]
Preset Velocity 7
Ultraware Name
Preset Velocity 7
Range
-6000…6000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Preset 
Modbus Address
213 
[Pr - 2.12]
Manual Velocity Limit
Ultraware Name
Manual Velocity limit
Range
1…6000
Default
5000
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Follower, Analog Velocity, Preset 
Modbus Address
214 
[Pr - 2.13]
Velocity Limit Mode 
Ultraware Name
Velocity Limits: Velocity Limit Mode 
Range
Value
Description
0x0
Disabled
0x1
Limited by [Pr-2.12]
.
0x2
Limited by Analog Speed 
Command Value (except 
Analog Speed Mode).
0x3
Limited by lesser one 
between [Pr-2.12]
and 
Analog Speed Command. 
Default
0
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
All 
Modbus Address
215 
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
85
Standard Drive Parameters Appendix A
Group 3 - Position Control
[Pr - 3.00]
Follower
Data Size
4 digits
Digit 0
Command Type
Ultraware Name
Command Type
Range
Value
Description
0x0
Step Up/Step Down, 
Positive logic
0x1
Step Up/Step Down, 
Negative logic
0x2
Step/Direction, Positive 
Logic
0x3
Step/Direction, Negative 
Logic
0x4
Auxiliary Encoder, x1
0x5
Auxiliary Encoder, x2
0x6
Auxiliary Encoder, x4
Default
0x0
Note
For Command types 0x4, 0x5, and 0x6:
Motor Counts = Master Lines * MULT * ……
…. (4 * Para3.01) / Para3.02
where MULT is 1, 2 or 4 for command types 0x4, 0x5 and 
0x6 respectively.
Applicable Operating Mode
Follower
Digit 1
Controller Output Type
Ultraware Name
Controller Output Type
Range
Value
Description
0x0
Use Low speed Line Drive 
Output in Host Controller 
for isolated electrical 
connection.
0x1
Use Open Collector in Host 
Controller.
0x2
Use High Frequency Line 
Drive Output in Host 
Controller.
Default
0x0
Applicable Operating Mode
Follower
Digit 2
Encoder Output Forward Direction
Ultraware Name
Encoder Output Forward Direction
Range
Value
Description
0x0
During Forward Rotation, 
Encoder Output Phase A 
have a lead of 90º over 
Phase B.
0x1
During Forward Rotation, 
Encoder Output Phase B 
have a lead of 90º over 
Phase A.
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86
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
Default
0x0
Applicable Operating Mode
All
Digit 3
1st Gear ratio change
Ultraware Name
1st Gear ratio change
Range
Value
Description
0x0
Enable Only on Drive 
Disabled
0x1
Always Enable
Default
0x0
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Follower 
Modbus Address
300 
[Pr - 3.01]
1st Gear Ratio, Follower Counts
Ultraware Name
1st Gear Ratio Numerator
Range
1…65,535
Default
4
Units
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Follower 
Modbus Address
301 
[Pr - 3.00] (continued)
Follower
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
87
Standard Drive Parameters Appendix A
[Pr - 3.02]
1st Gear Ratio, Master Counts
Ultraware Name
1st Gear Ratio Denominator
Range
1…65,535
Default
1
Units
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Follower 
Modbus Address
302 
[Pr - 3.03]
Encoder Output Ratio, Output Counts
Ultraware Name
Output Ratio Numerator
Range
1…32,768
Default
1
Units
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
All 
Modbus Address
303 
[Pr - 3.04]
Encoder Output Ratio, Motor Counts
Ultraware Name
Output Ratio Numerator
Range
1…32,768
Default
1
Units
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
All 
Modbus Address
304 
[Pr - 3.05]
2nd Gear Ratio, Follower Counts
Ultraware Name
2nd Gear Ratio Numerator
Range
1…65,535
Default
4
Units
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Follower 
Modbus Address
305 
88
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 3.06]
2nd Gear Ratio, Master Counts
Ultraware Name
2nd Gear Ratio Denominator
Range
1…65,535
Default
1
Units
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Follower 
Modbus Address
306 
[Pr - 3.07]
Reserved
When Enabled
Reserved for future use. 
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
89
Standard Drive Parameters Appendix A
[Pr - 3.08]
Digital Filter Cut-off Frequency
Data Size 
3 digits
Digit 0 
Low drive input
Value
Description
0x0 …0x7
0: 3 MHz
1: 1.75 MHz
2: 1.5 MHz
3: 1 MHz
4: 0.75 MHz
5: 0.625 MHz
6: 0.562 MHz
7: 0.525 MHz
Default = 1
Digit 1 
Open collector input
Value
Description
0x0 …0x7
0: 3 MHz
1: 1.75 MHz
2: 1.5 MHz
3: 1 MHz
4: 0.75 MHz
5: 0.625 MHz
6: 0.562 MHz
7: 0.525 MHz
Default = 5
Digit 2 
High frequency line drive input
0x0 …0x7
0: 3 MHz
1: 1.75 MHz
2: 1.5 MHz
3: 1 MHz
4: 0.75 MHz
5: 0.625 MHz
6: 0.562 MHz
7: 0.525 MHz
Default = 0
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
All 
Modbus Address
308 
90
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
Group 4 - Torque Controls 
[Pr - 4.00]
Current Scale
Ultraware Name
Current Scale
Internal Value
(1)
(1) Internal Value used for Modbus reading/writing functions
Display Value
Range
0…1000
0…100.0
Default
333
33.3
Units
0.1% of rated continuous current/V 
% of rated continuous current/V 
When Enabled 
Servo-Off -> Setting 
Applicable Operating Mode 
Analog Current command, Dual current Command 
Modbus Address
400 
[Pr - 4.01]
Positive Internal Current Limit
Ultraware Name
Current Limits: Positive Internal 
Range
0…500
Default
300
Units
% of motor rated continuous current 
When Enabled 
Immediately 
Applicable Operating Mode 
All
Modbus Address
401 
[Pr - 4.02]
Negative Internal Current Limit
Ultraware Name
Current Limits: Negative Internal
Range
0…500
Default
300
Units
% of motor rated continuous current
When Enabled 
Immediately 
Applicable Operating Mode 
All
Modbus Address
402 
[Pr - 4.03]
Positive External Current Limit
Ultraware Name
Current Limits: Positive External
Range
0…500
Default
100
Units
% of motor rated continuous current
When Enabled 
Immediately 
Applicable Operating Mode 
All
Modbus Address
403 
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