Rockwell Automation 1398-DDM-xxx ULTRA 100 Series Drives Installation Manual - Manual (Page 172)

Publication 1398-5.2 – PDF 1997
9-6 Tuning
Manual Tune Mode
Manual tuning may be used to adjust the gain settings and filter
frequency of the velocity and position regulator. The following
sections briefly explain these settings. An understanding of the
function for each type of gain and filtering will allow you to
effectively tune the system.
Two types of manual tuning are available:
●
Velocity tuning
●
Position tuning.
Before manual tuning is invoked, the Velocity, Distance and Motor
Direction parameters must be set. Refer to “Auto Tune Mode” on
page 9-3 for information on setting these parameters.
The velocity loop should always be tuned before the position loop, as
velocity loop tuning affects the position loop response.
Gain settings and signal filtering are the primary methods to
electrically tune a system. An understanding of the types of gain and
their purposes, as well as a general understanding of filtering, are
essential background knowledge to properly tune a servo system.
Filters
The velocity regulator has one low pass filter. The filter bandwidth
range is from 1 Hz to 992 Hz. The filter serves two purposes:
●
Adjusts the frequency range to remove or filter the noise produced
by encoder resolution.
●
Reduces the amount of the mechanical resonance in the
mechanical system (e.g., belt systems).
Similar results may often be achieved by reducing the update rate of
the velocity loop.
Gains
Manual Tuning
Manual tuning may be used to adjust the gain control parameters P
and I, and the filters. A square wave is generated by the drive to assist
in the adjustment. Manual velocity tuning requires the following:
●
Step Period value to be specified