Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 257)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 259
Configuring the Kinetix 3 Drive Chapter 5
The following parameters, status, and commands apply to this window.
The following information is the default status for a Kinetix 3 drive in the
Autotuning window of the Tuning branch.
Parameter Description
Autotune Settings
Motor Direction The direction in which the motor rotates during tuning:
• Bi-Directional,
• Forward Only, or
• Reverse Only.
Maximum Distance The maximum distance the motor turns when performing
autotuning. The autotune distance should be set as large as the
application permits, so that the autotune algorithm is able to
collect sufficient data to compute new tuning gains. The range is
1…2,147,483,647 counts.
Step Current The current the drive commands when performing autotuning, in
percent of the lesser of either the drive peak current or the motor
peak current. The autotune current is normally set at 10%, but
may need to be increased in the presence of large inertias or high
friction. In these systems, higher settings make sure that the
autotune algorithm is able to collect sufficient data to compute
new tuning gains. The range is 1…100%.
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…4000.
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. The I gain generates a control
signal proportional to the integral of the velocity error. The range
is 0…4000.
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.
D Derivative gain value for the velocity loop. The D gain generates a
control signal proportional to measured acceleration. The range is
-1000…1000.
Note: Positive D gain reduces velocity overshoot, and negative D
gain should be used only in systems that exhibit mechanical
resonance.
Status Description
Drive Enabled ON indicates the power stage of the drive is enabled. As a
precondition, all software and hardware enable inputs must be
active, and the drive cannot have any faults.
Note: Drive Enable has a value of 1 when ON, and a value of 0
when OFF.
Autotune Complete ON indicates the autotune completed successfully.
Autotune Failed ON indicates the autotune failed.