Rockwell Automation 2092-DAx Ultra1500 User Manual - Manual (Page 114)

Publication 2092-UM001D-EN-P — July 2005
5-34 Ultra1500 Application Examples
Figure 5.14
Velocity Regulator Step Response with Varying D Gain
Low Pass Filter Bandwidth
The Low Pass Filter Bandwidth parameter sets the bandwidth frequency of the
low pass filter that is applied to the velocity command input for the velocity
regulator. It can be set in the range 0–10,000 Hz. This filter is disabled when
the setting is 0. This filter may be useful in reducing noise on the analog
velocity command. It will also soften the edge of a step command input to the
velocity regulator. This filter setting affects the velocity loop bandwidth.
Position Regulator Settings
The position regulator includes the following parameters available for
adjustment by the user:
• Kp
• Kff
• Kff Low Pass Filter Bandwidth
• High Error Output Offset
• High Error Output Threshold
Velocity
Command
D = 0
D = 75
D = 200
D Gain = 200
D Gain = 0
Time (msec)
0 5 10 15 25
0
50
100
150
200
450
400
350
300
250
V
elocity (RPM)
20