Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 258)

260 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 5 Configuring the Kinetix 3 Drive
The following commands can be executed on an online drive using the
Autotuning window of the Tuning branch.
Customize the Autotuning window for your Kinetix 3 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 Revert to return parameter settings to the values they held when you
opened this window.
Manual Position Tuning Window
Use the Manual Position Tuning window to configure manual position tuning
parameters, start and stop manual position tuning for an online drive, and
monitor the Drive Enable status.
During manual position tuning, the drive commands an internal step position
waveform and the user sets the gains manually. The user sets the desired tuning
command parameters and selects the Start Tuning button to begin manual
position tuning.
The following parameters, status, and commands apply to this window.
Command Description
Start Autotune Begins autotuning.
Stop Autotune Stops autotuning.
Clear Faults Attempts to clear all drive faults.
ATTENTION: The motor shaft moves during the tuning process. Ensure
that the motor is properly mounted and guarded.
TIP Closing the window returns the drive to its normal operating mode, but
software disabled. Select the drive and execute an Enable command as
instructed in the Windows’ message to make the drive operational.
Parameter Description
Manual Position Tuning Settings
Motor Direction The direction in which the motor rotates during tuning:
• Bi-Directional,
• Forward Only, or
• Reverse Only.
Distance The the amplitude of the drive's commanded position step. The
range is 1…32,767 counts.
Time The period of the drive's commanded position step. The range is
1…32,767 ms.
Position Regulator Gains