Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Uživatelský manuál stáhnout pdf (Strana 169)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 171

Configuring the Ultra5000 Drive Chapter 4

The following commands can be executed for a Tuning branch of an online drive.

Customize the Tuning window for your Ultra5000 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 Setup to open the Monitor Setup window, where you can customize

the status display for this window.

• Click Revert to return parameter settings to the values they held when you

opened this window.

Tuning State The state of the Tuning branch. Displays include:

Running, Stopping, and Idle.

Position Loop

Command Position The command position input to the position loop.

Command Velocity The command velocity input to the position loop.

Command Acceleration The command acceleration input to the position loop.

Feedback Position The feedback position returned from the motor to the position

loop.

Error The difference between Command Position and Feedback

Position.

Error Sum The position error summation used by integral gain.

Output The generated output from the position loop.

Tuning State Displays Idle or Tuning depending on whether a Stop or Start

tuning command is selected.

Command Offset Offsets the Command Position value displayed on the

Oscilloscope to prevent the command trace from incrementing

('walking') off the display.

Feedback Offset Offsets the Feedback Position value displayed on the

Oscilloscope to prevent the feedback trace from incrementing

('walking') off the display.

Command Description

Start Velocity Tuning Drives the motor with a square (or step) wave. The shape of the

wave is determined by the commanded Step Size velocity (in

pulses per second) and the selected Tuning Direction.

Stop Velocity Tuning Stops velocity tuning.

Start Position Tuning Drives the motor with a square (or step) wave. The shape of the

wave is determined by the commanded Step Size position (in

pulses) and the selected Tuning Direction.

Stop Position Tuning Stops position tuning.

Autotuning Opens the autotuning window.

Status Description

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Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Uživatelský manuál Strana 169