Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario descargar pdf (Pagina 172)

174 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011

Chapter 4 Configuring the Ultra5000 Drive

These commands can be executed on an online drive using the Autotuning

window of the Tuning branch.

Customize the Autotuning 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 access the Monitor Setup window.

• Click Revert to return parameter settings to the values they held when you

opened this window.

Position Regulator Gains

Kp Proportional gain for the position loop. Must be >= 0.

Note: Increasing the Kp gain improves response time and

increases the “stiffness” of the system. Too high a Kp gain value

causes instability; too low a Kp gain value results in “loose” or

“sloppy” system dynamics.

Kpz Proportional gain for the position loop, when the position error

falls within the Kpz Zone (defined below). Must be >= 0.

Kpz Zone Enter the region, in counts, around Command Position where

Kpz will be used in place of Kp as the position loop proportional

gain value. Must be >= 0.

Ki Integral gain for the position loop. Must be >= 0.

Note: Ki gain improves the steady-state positioning

performance of the system and virtually eliminates steady-state

positioning errors. Increasing the integral gain generally

increases the ultimate positioning accuracy of the system.

However excessive integral gain results in system instability.

Ki Zone Enter the region, in counts, around Command Position where

integral gain is active. Must be >= 0.

Kff Velocity feedforward gain for the position loop. Must be >= 0.

Note: Kff gain reduces position following error. However high

values can cause position overshoot.

Command Description

Start Autotune Begins autotuning.

Clear Faults Attempts to clear all drive faults.

TIP

Closing this window results in a display message stating:

This will return the drive to its normal operating mode. The drive will be

software disabled to prevent unexpected motion. Select the drive in the

workspace and execute the Commands/Enabled menu (or click the

Enable toolbar button) to re-enable the drive.

Status Description

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