Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 81)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 83
Configuring the Ultra3000 Drive Chapter 3
The following status is displayed by default for an Ultra3000 drive in the Manual
Position Tuning window of the Tuning branch:
Ki Integral gain for the position loop. Ki gain generates a control
signal proportional to the integral of the velocity error. It has a
range of 0…32.
Note: Ki gain improves the steady-state positioning
performance of the system and virtually 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 reset. It has a range of 0…32,767 counts.
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.
Parameter Description