Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 172)

174 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 4 Configuring the Ultra5000 Drive
These commands can be executed on an online drive using the Autotuning
window of the Tuning branch.
Customize the Autotuning window for your Ultra5000 Drive by selecting one or
more of these commands:
• Click Show Status to display or hide the Status pane.
• Click Show Commands to display or hide the Commands pane.
• Click Setup to access the Monitor Setup window.
• Click Revert to return parameter settings to the values they held when you
opened this window.
Position Regulator Gains
Kp Proportional gain for the position loop. Must be >= 0.
Note: Increasing the Kp gain improves response time and
increases the “stiffness” of the system. Too high a Kp gain value
causes instability; too low a Kp gain value results in “loose” or
“sloppy” system dynamics.
Kpz Proportional gain for the position loop, when the position error
falls within the Kpz Zone (defined below). Must be >= 0.
Kpz Zone Enter the region, in counts, around Command Position where
Kpz will be used in place of Kp as the position loop proportional
gain value. Must be >= 0.
Ki Integral gain for the position loop. Must be >= 0.
Note: Ki gain improves the steady-state positioning
performance of the system and virtually eliminates steady-state
positioning errors. Increasing the integral gain generally
increases the ultimate positioning accuracy of the system.
However excessive integral gain results in system instability.
Ki Zone Enter the region, in counts, around Command Position where
integral gain is active. Must be >= 0.
Kff Velocity feedforward gain for the position loop. Must be >= 0.
Note: Kff gain reduces position following error. However high
values can cause position overshoot.
Command Description
Start Autotune Begins autotuning.
Clear Faults Attempts to clear all drive faults.
TIP Closing this window results in a display message stating:
This will return the drive to its normal operating mode. The drive will be
software disabled to prevent unexpected motion. Select the drive in the
workspace and execute the Commands/Enabled menu (or click the
Enable toolbar button) to re-enable the drive.
Status Description