Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario Pagina 166

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168 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 4 Configuring the Ultra5000 Drive
Understanding the Tuning
Window
The Properties window for the Tuning branch looks like this.
Use the Tuning window to configure, monitor and execute commands for
position and velocity tuning.
Ultraware software uses a nested digital servo control loop consisting of:
an outer position loop (or regulator), using proportional, integral and
feedforward gains, around
an inner velocity loop (or regulator), using its own set of proportional,
integral and feedforward gains.
ATTENTION: Excessive tuning step profile values may cause
uncontrolled motion. Refer to the appropriate Hardware and Installation
manual listed in Additional Resources
on page 12 for tuning details.
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