Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 166)

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.