Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual do Utilizador Página 199
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Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 201
Configuring the Ultra5000 Drive Chapter 4
Rth(w-e)
Cth(w-e)
Rth(w-a)
Cth(w-a)
Autotuning
Autotuning State
Total Inertia
Total Motion Mass
Velocity Regulator Gains
P
I
FF
Bandwidth
Upper Limit
Lower Limit
Position Regulator Gains
Kp
Kpz
Kpz Zone
Ki
Ki Zone
Kff
Motor Encoder
Output
Fault State
I
A
B
S1
S2
S3
Master Encoder
Output
Fault State
I
A
B
Ratchet Settings
Ratchet Buffer
Status
- Ultraware Software 1
- Important User Information 2
- Summary of Changes 3
- New and Updated 3
- Information 3
- Table of Contents 5
- Chapter 3 6
- Chapter 4 7
- Chapter 5 8
- Chapter 6 9
- Chapter 7 10
- Creating Custom Motors 10
- Appendix A 10
- Ultraware Software Updates 10
- Additional Resources 12
- Before You Begin 13
- Download Ultraware 14
- Software 14
- Using Online Help 14
- How Ultraware Software 14
- Graphical User Interface 15
- Workspace Window 16
- Output Window 17
- Client Area 18
- Main Menubar 19
- Toolbars 20
- Status Bar 20
- Motion Library Dialog 20
- Starting Ultraware 21
- Upgrading Drive Firmware 22
- Configuration 23
- Opening Ultraware 24
- Creating, Opening and 25
- Saving Ultraware Files 25
- Saving an Ultraware File 27
- Creating a New Drive 28
- Importing and Exporting a 28
- Importing a Drive 29
- Working in the Workspace 30
- Drag and Drop 33
- Configuring the Ultra3000 36
- Current Control Panel Window 50
- Indexing Control Panel 52
- – Motor 77
- – Feedback) 77
- – Command 77
- Motor Diagnostics 87
- Motor Feedback Diagnostics 88
- Motor Marker Diagnostics 89
- Diagnostic Testing Procedure 92
- Outputs window: 99
- Understanding the Analog 101
- Outputs Window 101
- Understanding the Monitor 103
- Oscilloscope Window 106
- Understanding the 106
- Channel Setup Window 109
- Understanding Ultra3000 110
- DeviceNet window: 114
- Understanding the Faults 124
- ² Motor encoder 129
- Understanding the Service 133
- Information Window 133
- Introduction 135
- Configuring the Ultra5000 136
- Ultra5000 Drive Branch 139
- ² 58 = Excessive CPU Load 141
- Installing Drivers 143
- Drive Report 143
- Understanding the Motion 144
- Understanding the Jog 145
- Understanding the Move 147
- Understanding the Cam 149
- Inserting a Cam Table 152
- Importing a Cam Table 152
- Importing a CSV File 152
- Cam Table branch 153
- Properties Pane 155
- Table Pane 156
- Position Profile Pane 157
- Velocity Profile Pane 157
- Acceleration Profile Pane 158
- Understanding the Gear 159
- Understanding the Motor 161
- Ultra5000 drive 164
- Understanding the Tuning 166
- Autotuning Window 170
- Encoders Window 173
- Understanding the Digital 178
- Inputs Window 178
- Understanding Ultra5000 191
- Monitoring Your Ultra5000 194
- Ultra5000 Status 197
- Programs Branch 203
- Understanding the Archives 203
- Understanding the Files 204
- Understanding the Global 204
- Variables Branch 204
- Command Description 217
- Configuring the Kinetix 3 220
- Understanding the Kinetix 3 223
- Drive Branch 223
- Using the Setup Wizard 234
- Understanding the Preset 237
- Understanding the Follower 239
- Understanding the Indexing 241
- Understanding the Homing 244
- Outputs window 270
- Monitor Setup Window 274
- Understanding Kinetix 3 280
- Status Displays 280
- Understanding the Fault 294
- Detail Window 294
- Creating and Running Programs 297
- Configuring a Project 298
- Executing Project Commands 300
- Using Source Files 301
- Using Header Files 303
- Using the Motion Library 305
- Using the Text Editor 307
- Find Next 308
- Select All 309
- Go To Corresponding { } ( ) 309
- Go To Line Number 310
- Bookmarks 310
- Toggle Bookmark 311
- Next Bookmark 312
- Previous Bookmark 312
- Show Line Numbers 313
- Wildcard Search Characters 314
- The Replace dialog opens: 315
- Using Executable Program 318
- Importing and Exporting 321
- Executing Your Program 323
- Kill (Program) 324
- Using Direct Commands 325
- Ultra3000 Direct Commands 326
- Ultra3000 326
- Ultra5000 Direct Commands 327
- Ultra3000 Drive Branch 327
- Creating Custom Motor 330
- Parameter Sets 330
- Motor Database 331
- Using the Linear Motor 333
- Using the Rotary Motor 335
- Importing Motors 336
- Exporting Motors 336
- Version 1.60 338
- General 339
- Version 1.50 340
- Version 1.40 341
- Version 1.30 342
- General Enhancements 343
- Installation Notes 344
- Rockwell Automation Support 354
- Documentation Feedback 354
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