Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 254)

256 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 5 Configuring the Kinetix 3 Drive
Autotuning:
Autotuning Speed Motor speed to use when performing the Autotuning function. The
range is 200…900 (rpm rotary or millimeters per second linear).
Off-LineTuning Mode • Inertia Moment Estimation: Servo drives automatically detect
and set only the load inertia ratio, and automatically set two
basic gains as being suitable for Inertia Ratio. Therefore, it is
recognized that the response quality of servomotor is improved
at the same time.
• Inertia Moment Estimation and Resonant Frequency Detection:
Servo drive automatically detects and sets load inertia ratio
(mass ratio for linear motors), friction coefficient, and resonant
frequency.
• Resonant Frequency Detection: Intercepts vibration of load
system using resonant frequency that is automatically detected
by auto tuning. Resonant frequency of load system becomes the
setting value for resonance suppression filter.
On-Line Vibration Suppression
Mode • Disable: Disables the online vibration suppression function.
• Normal and High Velocity: Enables the online vibration
suppression function and more delicately it responses to load
change and respond quickly.
• Slow Velocity without Initial Value: Enables the online vibration
suppression function and more delicately it responses to load
change and respond slowly.
On-Line Vibration Suppression
Gain • low:This value indicates the velocity observation gain is low.
• high: This value indicates the velocity observation gain is high.
Velocity Regulator Configuration:
Velocity Command Filter on
Follower • Disable: Disables the Velocity Command Filter in the Follower
mode.
• Enable: Enables the Velocity Command Filter in the Follower
mode.
Gain Switching:
Gain Change Enable • Disable: Disables the Gain Change.
• Enable: Enables the Gain Change.
Mode of Gain Switching • 1st Gain Fix: Fixed to the 1st gain
• 2nd Gain Fix: Fixed to the 2nd gain
• Digital Input (G-SEL): 2nd gain selection when the gain
switching input is turned on.
• Torque command: 2nd gain selection when the toque command
is larger than the control settings (level of gain control switching
and hysteresis of control switching)
• Velocity Command: 2nd gain selection when the command
speed is larger than the control settings (level of gain control
switching and hysteresis of control switching)
• Position Error: 2nd gain selection when the positional deviation
is larger than the control settings (level of gain control switching
and hysteresis of control switching)
• Position Command: 2nd gain selection when more then one
command pulse exists within a 200 µs interval.
• In-Position: 2nd gain selection when the value in the positional
deviation counter exceeds the range of the positioning
completer.
• Velocity: 2nd gain selection when the motor actual speed
exceeds the control values (level of gain control switching and
hysteresis of control switching). Switches to the 2nd gain while
the position command exists.
• Position Command and Speed: Switches to the 1st gain when
no-position command status lasts for the delay time of gain
switching [x 200 µs] and the speed falls slower than the control
settings of the gain control switching level and hysteresis of
control switching
Parameter Description