Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 76)

78 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 3 Configuring the Ultra3000 Drive
These parameters, status, and commands apply to this window:
Parameter Description
Velocity Regulator Gains
P Proportional gain for the velocity loop. The P gain generates a
control signal proportional to the velocity error. It has a range of
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. It has a
range of 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.
It has a range of -1000…1000.
Note: Positive D gain reduces velocity overshoot, and negative D
gain should be used only in systems that exhibit mechanical
resonance.
Position Regulator Gains
Kp Proportional gain for the position loop. The Kp gain generates a
control signal proportional to the position error. It has a range of
0…32.
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.
Kd Derivative gain for the position loop. The Kd gain generates a
control signal proportional to measured velocity. It has a range
of 0…32.
Note: Kd gain provides damping to the position loop, and can
reduce overshoot.
Kvff Velocity Feedforward gain for the position loop. The Kvff gain
generates a feed forward signal proportional to the commanded
speed. It has a range of 0…200.
Note: Kvff gain reduces position following error. However high
values can cause position overshoot.
Ki Integral gain for the position loop. Ki gain generates a control
signal proportional to the integral of the position error. It has a
range of 0…32.
Note: Ki gain improves the steady-state positioning
performance of the system and eliminates steady-state
positioning errors. It affects the ability to reject load
disturbances. Increasing the integral gain generally increases
the ultimate positioning accuracy of the system. However
excessive integral gain results in system instability.
Ki Zone The region, in counts, around the commanded position where
integral gain is active. If the position error is greater than Ki
Zone, the integrator is not active. It has a range of 0…32767
counts.
Kaff Acceleration Feedforward gain for the position loop. The Kaff
gain generates a feed forward signal proportional to the
commanded acceleration. It has a range of 0 …200.
Note: Kaff gain reduces position following error. However high
values can cause position overshoot.