Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 75)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 77
Configuring the Ultra3000 Drive Chapter 3
Understanding the Tuning
Window The Properties window for the Tuning branch looks like this.
Use the Tuning window to:
• Configure Velocity and Position Regulator Gains that are used in tuning.
• Monitor Velocity, Position and Current loop status.
• Open windows where you can execute commands for autotuning, manual
position tuning and manual velocity tuning.
Ultraware software uses a nested digital servo control loop, consisting of an outer
position regulator (using proportional, integral, derivative and feedforward
gains), around an inner velocity regulator (using its own set of proportional,
integral and derivative gains).
Together, these regulators provide software control over the servo dynamics, and
stabilize the servo system.