Rockwell Automation 1398-DDM-xxx ULTRA 100 Series Drives Installation Manual - Manual (Page 174)

Publication 1398-5.2 – PDF 1997
9-8 Tuning
Tuning the Velocity Loop
The Auto Tune procedure provides a starting point for velocity loop
tuning. Manual tuning is desirable when very precise adjustments are
required.
The following steps describe how to manually tune the velocity loop.
These steps precede the manual position loop tuning procedure, which
should follow velocity loop tuning.
1. Disable the drive.
2. Choose Manua l T une (Velocity Step) from the Tuning window.
3. Enter the desired step Velo c ity (rpm) of the internal square wave
generator.
4. Enter the desired T ime to complete one cycle of the square wave
of the internal step velocity.
5. Select the desired Motor Direction ( For w ard Only , Re v erse
Onl y, or B i-Directional ).
6. Select the Osc i lloscope .
7. Enable the drive.
8. Choose S tart . The motor should start moving and the oscilloscope
will display the commanded velocity and the motor velocity.
9. While monitoring the motor velocity waveform, increase P-gain
until the desired rise time is achieved.
10. While monitoring the motor velocity waveform, increase I-gain
until an acceptable amount of overshoot is reached.
11. Apply filtering by selecting F ilters , and then select Filter E nable .
12. While monitoring the motor velocity waveform, decrease the filter
B andwidth until the overshoot begins to increase (in many appli-
cations the filter is not necessary).
13. Choose S top .
14. Disable the drive.
15. Choose N ormal Drive Operation .
16. Choose Close .
17. Enable the drive.
The drive’s velocity loop is tuned.