Rockwell Automation 2098-UWCPRG Ultraware Software User Manual User Manual
Page 79
Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
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Configuring the Ultra3000 Drive Chapter 3
The status is displayed by default for an Ultra3000 drive in the Autotuning
window of the Tuning branch:
These commands can be executed on an online drive using the Autotuning
window of the Tuning branch:
Customize the Autotuning window for your Ultra3000 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.
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.
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.
Command
Description
Start Autotune
Begins autotuning.
Stop Autotune
Stops autotuning.
Clear Faults
Attempts to clear all drive faults.
Parameter
Description