Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 169)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 171
Configuring the Ultra5000 Drive Chapter 4
The following commands can be executed for a Tuning branch of an online drive.
Customize the Tuning window for your Ultra5000 Drive by selecting one or
more of these commands:
• Click Show Status to display or hide the Status pane.
• Click Show Commands to display or hide the Commands pane.
• Click Setup to open the Monitor Setup window, where you can customize
the status display for this window.
• Click Revert to return parameter settings to the values they held when you
opened this window.
Tuning State The state of the Tuning branch. Displays include:
Running, Stopping, and Idle.
Position Loop
Command Position The command position input to the position loop.
Command Velocity The command velocity input to the position loop.
Command Acceleration The command acceleration input to the position loop.
Feedback Position The feedback position returned from the motor to the position
loop.
Error The difference between Command Position and Feedback
Position.
Error Sum The position error summation used by integral gain.
Output The generated output from the position loop.
Tuning State Displays Idle or Tuning depending on whether a Stop or Start
tuning command is selected.
Command Offset Offsets the Command Position value displayed on the
Oscilloscope to prevent the command trace from incrementing
('walking') off the display.
Feedback Offset Offsets the Feedback Position value displayed on the
Oscilloscope to prevent the feedback trace from incrementing
('walking') off the display.
Command Description
Start Velocity Tuning Drives the motor with a square (or step) wave. The shape of the
wave is determined by the commanded Step Size velocity (in
pulses per second) and the selected Tuning Direction.
Stop Velocity Tuning Stops velocity tuning.
Start Position Tuning Drives the motor with a square (or step) wave. The shape of the
wave is determined by the commanded Step Size position (in
pulses) and the selected Tuning Direction.
Stop Position Tuning Stops position tuning.
Autotuning Opens the autotuning window.
Status Description