Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 171)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 173
Configuring the Ultra5000 Drive Chapter 4
The following status is displayed by default for an Ultra5000 drive in the
Autotuning window of the Tuning branch.
Bandwidth Filter Enabled: sets the autotuning algorithm to the Velocity Loop
Bandwidth parameter appropriately for the Velocity Loop P-Gain
value.
Disabled: sets the Bandwidth to zero, or no filtering.
Velocity I Gain Enabled: sets the autotuning algorithm to the Velocity Loop
IGain parameter.
Disabled: sets the IGain to zero.
Response This property determines how tight the drive is tuned. A value of
2 indicates a critically damped system. Values between 0.7 and
1.4 generally result in desirable results. It has a range from
0…2.
Status Description
Autotuning State Describes the current state of the autotuning process, as
follows:
• Idle, when tuning is inactive, or has completed successfully.
• Running, while the drive is moving the motor to determine
the response.
• Complete, when the autotuning algorithm has completed
successfully. (Note, this status displays momentarily, before
returning to the idle state.)
• Failed, when the autotuning algorithm was unable to finish.
Total Inertia For rotary motors, the total moving inertia of the motor and
attached load, as calculated by the autotuning algorithm.
Total Motion Mass For linear motors, the total moving mass of the motor and
attached load, as calculated by the autotuning algorithm.
Velocity Regulator Gains
P Proportional gain for the velocity loop. Must be >= 0.
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. Must be >= 0.
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.
FF Acceleration feedforward gain. Must be >= 0.
Note: FF gain reduces velocity following error. However, high
values can cause velocity overshoot.
Bandwidth Lowpass output filter bandwidth. Valid values range from
0…2000 Hz.
Note: Bandwidth reduces noise generated by encoder resolution
or mechanical resonance in the system. Setting to zero disables
filtering.
Lower Limit Input the maximum positive current the drive may output to the
motor, in amperes. Must be >= 0.
Upper Limit Input the maximum positive current the drive may output to the
motor, in amperes. Must be >= 0.
Parameter Description