Rockwell Automation 8510 AC Spindle Drive System Programming Manual - Manual (Page 41)

Drive Tuning
Chapter 3
3-38
If plotted as velocity versus position, the final deceleration is a straight line
from the Orient Speed/Orient Start point to the Zero Speed/Target Position
point (see Figure 3.1). The orient position loop gain is essentially the slope
of this curve and is defined as:
Orient
Speed
Orient Start
(expressed as degrees/second/degrees or radians/second) Kp = 6
x
The orient position loop gain that is achieved using the default values for
Orient Speed and Orient Start is:
60 rpm
45.0 degrees
= 8 radians/second Kp = 6
x
If the velocity or position error were plotted versus time, the deceleration
would be a single exponential deceleration to the target position.
Figure 3.1
Spindle Orient Operation
Orient Start
Slope x 6 = Kp
Final Decel
Begin Final
Deceleration
Target
Position
Orient Speed
Decel from
Running Speed
Spindle Position
Spindle
Speed