Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 80)

82 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 3 Configuring the Ultra3000 Drive
Manual Position Tuning Window
Use the Manual Position Tuning window to configure manual position tuning
parameters, start and stop manual position tuning for an online drive, and
monitor the Drive Enable status.
During manual position tuning, the drive commands an internal step position
waveform and the user sets the gains manually. The user sets the desired tuning
command parameters and selects the Start Tuning button to begin manual
position tuning.
The following parameters, status, and commands apply to this window:
ATTENTION: The motor shaft moves during the tuning process. Ensure
that the motor is properly mounted and guarded.
TIP Closing the window returns the drive to its normal operating mode, but
the software is disabled. To make the drive operational, click the drive
and then the Enable command as instructed in the Windows’ message.
Parameter Description
Manual Position Tuning Settings
Motor Direction The direction the motor rotates during tuning:
• Bi-Directional,
• Forward Only, or
• Reverse Only.
Distance The the amplitude of the drive's commanded position step. It
has a range of 1…32,767 counts.
Time The period of the drive's commanded position step. It has a
range of 1…32,767 ms.
Position Regulator Gains
Kp Proportional gain for the position loop. The Kp gain generates a
control signal proportional to the position error. It has a range of
0…32 in/min/mil.
Note: Increasing the P gain improves response time and
increases the stiffness of the system. Too high a P gain value
causes instability; too low a P gain value results in loose or
sloppy system dynamics.
Kd Derivative gain for the position loop. The Kd gain generates a
control signal proportional to measured velocity. It has a range
of 0…32.
Note: Kd gain provides damping to the position loop, and can
reduce overshoot.
Kff Feedforward gain for the position loop. The Kff gain generates a
feed forward signal proportional to the commanded speed. It
has a range of 0…200.
Note: Kff gain reduces position following error. However high
values can cause position overshoot.