Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 252)

254 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 5 Configuring the Kinetix 3 Drive
The following parameters, status, and commands apply to this window.
Parameter Description
Parameters
Velocity Regulator Response
Level The Velocity Regulator Response Level defines maximum system
gain percentage (%) recommended by the drive based on the
inertia ratio determined by auto tuning.
The range is 0 …150. The default is 50.
System Gain System Gain is the same as the Bandwidth of overall velocity
control loop of the servo drive.
The range is 0…500. The default is 50.
Velocity Regulator Gains
P Proportional gain for the velocity loop. The P gain generates a
control signal proportional to the velocity error. The range is
0…10,000.
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.
Integrator Gain Integral gain for the velocity loop. The integrator generates a
control signal proportional to the integral of the velocity error.
Note: Integral Time improves the steady-state velocity
performance of the system. Decreasing the integral time generally
increases the ultimate positioning accuracy of the system.
However, too low of an integral time results in system instability.
There are two ways for the Kinetix 3 velocity loop integrator to be
held in its current state:
• If an input is assigned the Integrator Inhibit function, The
integrator will be held when the input is active.
• If the Integrator Inhibit function is not assigned to an input, the
Integrator Mode and Integrator Hold Threshold can be used to
control when the integrator is held.
Integrator Mode The conditions for using the Integrator:
• Always On: The integrator is always used.
• High Current Disable: Holds the integrator if the current
command exceeds the Integrator Hold Threshold.
• Velocity Command Disable: Holds the integrator if the velocity
command exceeds the Integrator Hold Threshold.
• Position Error Disable: Holds the integrator if the position error
exceeds the Integrator Hold Threshold.
• Automatic Disable: Velocity controller is Automatically changed
from PI Controller to P Controller.
D Derivative gain value for the velocity loop. The D gain generates a
control signal proportional to the derivative of the velocity error.
The range is 0…1000.
Note: D gain reduces velocity overshoot.
Low Pass Filter Bandwidth The velocity loop's low pass filter bandwidth. This value indicates
the cutoff frequency of the pass filter that is applied to the velocity
command input to the regulator.
The range is 0…10,000 Hz.
Note: If this value is set to 0, the low pass filter is disabled.
Error Filter Bandwidth This value indicates the cutoff frequency of the pass filter that is
applied to the velocity differential error to the regulator.
The range is 0…2,500 Hz. The default is 30 Hz.