Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 170)

172 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 4 Configuring the Ultra5000 Drive
Autotuning Window
Use the Autotuning window to
• configure autotuning parameters,
• start autotuning for an online drive, and
• monitor autotuning status.
To access the Autotuning window, do one of these:
• Click Autotuning, from the Commands menu.
• Right-click the Tuning icon, and then click Commands and Autotuning
from the pop-up menu.
• Right-click the Tuning icon, and then click Properties from the pop-up
menu. Then click Autotuning in the Tuning window.
During autotuning, the drive executes an internal tuning algorithm and sets
appropriate gains automatically. The user sets the desired tuning command
parameters and selects the Start Autotune button to begin autotuning.
The following parameters, status and commands apply to this window.
ATTENTION: The motor shaft moves during the tuning process! Refer to
the appropriate Hardware and Installation manual listed in
Additional
Resources on page 12 for tuning details.
Parameter Description
Autotune Settings
Autotuning Direction The direction in which the motor rotates during tuning:
• Bi-Directional,
• Forward Only, or
• Reverse Only.
Maximum Distance The maximum distance the motor turns when performing
autotuning. The autotune distance should be set as large as the
application permits, so that the autotune algorithm is able to
collect sufficient data to compute new tuning gains. It must be >
0.
Maximum Velocity The maximum turning velocity of the motor during autotuning. It
has a range of 1…100% of maximum motor velocity.
Step Current The current the drive will command when performing
autotuning. The autotune current is normally set at 10% of the
motor rated peak current, but may need to be increased in the
presence of large inertias or high friction. In these systems,
higher settings will make sure that the autotune algorithm will
be able to collect sufficient data to compute new tuning gains. It
has a range of 1…100%.