Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 253)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 255
Configuring the Kinetix 3 Drive Chapter 5
Main Position Regulator Gains
Kp Proportional gain for the position loop. The Kp gain generates a
control signal proportional to the position error.
The range is 0…700.
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.
Kff Feedforward gain for the position loop. The Kff gain generates a
feed forward signal proportional to the commanded speed.
The range is 0…100% of the commanded speed.
Note: Kff gain reduces position following error. However high
values can cause position overshoot.
Kvff Velocity Feedforward gain for the position loop. The Kvff gain
generates a feed forward signal proportional to the commanded
speed. The range is 0…200.
Note: Kvff gain reduces position following error. However high
values can cause position overshoot.
Low Pass Filter Bandwidth This value indicates the cutoff frequency of the pass filter that is
applied to the position command. The range is 0…2,500 Hz. The
default is 0 Hz.
High Error Output Offset An additional velocity command to be added in to the velocity
speed command when the position error exceeds a threshold,
specified below. The range is 0…450 rpm or millimeters per
second.
High Error Output Threshold Minimum position error, in counts, at which the High Error Output
Offset, specified above, will be added to the velocity command.
The range is 0 to 50,000 counts. The default is 1000.
Main Current Regulator Gains:
Gain Adjusting this gain adjusts the overall response of the current
regulator. It can be set to Low, Medium, or High.
Normally this gain should be left at the High Setting for best
performance, but a lower setting will reduce audible noise at the
expense of bandwidth.
Low Pass Filter Bandwidth The current loop's low pass filter bandwidth. The value indicates
the cutoff frequency of the low pass filter applied to the current
command input of the regulator. This filter reduces noise generated
by encoder resolution or mechanical resonance in the system.
The range is 0…10,000 Hz. Note: If this value is set to 0, the low
pass filter is disabled.
1st Resonant Frequency
Suppression Filter Set this to the 1st resonant frequency of the load to suppress
vibration or noise. This parameter is useful if a specific frequency
needs to be eliminated. The range is 0…10,000 Hz. The default is
10,000 Hz.
2nd Resonant Frequency
Suppression Filter Set this to the 2nd resonant frequency of the load to suppress
vibration or noise. This parameter is useful if a specific frequency
needs to be eliminated. The range is 0…10,000 Hz. The default is
10,000 Hz.
1st Resonant Frequency
Suppression Filter Width Set up the notch width of 1st resonance suppressing filter in 20
steps. The higher the value, the larger the notch width. The range
is 0…20. The default is 10.
2nd Resonant Frequency
Suppression Filter Width Set up the notch width of 2nd resonance suppressing filter in 20
steps. The higher the value, the larger the notch width. The range
is 0…20. The default is 10.
2nd Resonant Frequency
Suppression Filter Depth Set up the notch depth of 2nd resonance suppressing filter. The
higher the value, the shallower the notch depth and the smaller the
phase delay. The range is 0…100. The default is 100.
Parameter Description