Rockwell Automation 2098-UWCPRG Ultraware Software User Manual User Manual
Page 83
Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
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Configuring the Ultra3000 Drive Chapter 3
The following status is displayed by default for an Ultra3000 drive in the Manual
Velocity Tuning window of the Tuning branch:
The following commands can be executed on an online drive using the Manual
Velocity Tuning window of the Tuning branch:
Customize the Manual Velocity Tuning window for your Ultra3000 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.
P
Proportional gain for the velocity loop. The P gain generates a
control signal proportional to the velocity error. It has a range of
0…4000.
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.
I
Integral gain for the velocity loop. The I gain generates a control
signal proportional to the integral of the velocity error. It has a
range of 0…4000.
Note: I gain improves the steady-state velocity performance of
the system. Increasing the integral gain generally increases the
ultimate positioning accuracy of the system. However excessive
integral gain results in system instability.
D
Derivative gain value for the velocity loop. The D gain generates
a control signal proportional to measured acceleration. It has a
range of -1000…1000.
Note: Positive D gain reduces velocity overshoot, and negative D
gain should be used only in systems that exhibit mechanical
resonance.
Low Pass Filter
Enable
Enable or disable the drive's low pass filter. Selections are:
• Enabled
• Disabled
Bandwidth
The connected drive's low pass filter's bandwidth. This value
indicates the cutoff frequency of the low pass filter. It has a
range of 1…992 Hz.
Note: Bandwidth reduces noise generated by encoder resolution
or mechanical resonance in the system.
Status
Description
Drive Enabled
ON indicates the power stage of the drive is enabled. As a
precondition, all software and hardware enable inputs must be
active, and the drive cannot have any faults.
Note: Drive Enable has a value of 1 when ON, and a value of 0
when OFF.
Command
Description
Start Tuning
Begins manual velocity tuning.
Stop Tuning
Stops manual velocity tuning.
Clear Faults
Attempts to clear all drive faults.
Parameter
Description