Rockwell Automation 1398-DDM-xxx ULTRA 100 Series Drives Installation Manual - Manual (Page 167)

Publication 1398-5.2 – PDF 1997
Chapter 9
Tuning
Chapter 9
ULTRA 100 Series drives are tuned quickly and easily for a wide
variety of applications. Two tuning modes are available through the
software:
●
Auto Tune
●
Manual Tune
Tuning Guidelines
The following tuning guidelines briefly describe the tuning
adjustments. These guidelines provide you with a basic reference
point should the application require additional adjustments.
General Tuning Rules
●
Tune the velocity loop first and then, if the drive uses following or
step/direction commands, tune the position loop.
●
To widen the velocity loop bandwidth, increase the P-gain setting,
decrease the I-gain setting or increase the low-pass filter
bandwidth. This provides a faster rise time and increases drive
response.
●
To increase stiffness, increase the I-gain setting. It rejects load
disturbance and compensates for system friction.
●
To reduce velocity loop overshoot, increase P-gain or decrease I-
gain.
●
To reduce mechanical resonance, use a stiffer mechanical
coupling or decrease the low-pass filter value and the velocity
loop update rate.
●
If the motor oscillates, decrease either individually or together
the:
– P-gain
– I-gain
– low-pass filter bandwidth.
High Inertia Loads
Proper compensation of load inertia may not be simply a matter of
increasing the P-gain and I-gain settings. Problems are often
encountered when tuning systems with a high load to motor inertia
ratio.