Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario descargar pdf (Pagina 259)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 261

Configuring the Kinetix 3 Drive Chapter 5

The following display is the default status for a Kinetix 3 drive in

Kp Proportional gain for the position loop. The Kp gain generates a

control signal proportional to the position error. The range is 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. The range is

0…32.

Note: Kd gain provides damping to the position loop, that can

reduce overshoot.

Kff Feedforward gain for the position loop. The Kff gain generates a

feed forward signal proportional to the commanded speed. The

range is 0…200.

Note: Kff gain reduces position following error. However high

values can cause position overshoot.

Ki Integral gain for the position loop. Ki gain generates a control

signal proportional to the integral of the velocity error. The range is

0…32.

Note: Ki gain improves the steady-state positioning performance of

the system and virtually eliminates steady-state positioning errors.

It affects the ability to reject load disturbances. Increasing the

integral gain generally increases the ultimate positioning accuracy

of the system. However excessive integral gain results in system

instability.

Ki Zone The region, in counts, around the commanded position where

integral gain is active. If the position error is greater than Ki Zone,

the integrator is reset. The range is 0…32,767 counts.

Velocity Regulator Gains

P Proportional gain for the velocity loop. The P gain generates a

control signal proportional to the velocity error. The range is

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. The range is

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. The range is

is -1000…1000.

Note: Positive D gain reduces velocity overshoot, and negative D

gain should be used only in systems that exhibit mechanical

resonance.

Parameter Description

1 2 ... 254 255 256 257 258 259 260 261 262 263 264 ... 353 354

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