Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 189 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
189
Tuning
Chapter 9
ID185 (P2.000) PositionProportionalGain [KPP]
This parameter determines the response of the position loop. The larger the KPP
value, the higher the response frequency of the position loop. This lowers
following error and position error, and shortens the settling time. However, if you
set the value too high, it can cause the machinery to vibrate or cause overshoot
when positioning. The calculation of position loop frequency response is as
follows:
See Gain Adjustment of the Position Loop on page 207 for more information.
ID189 (P2.004) VelocityProportionalGain [KVP]
This parameter determines the response of speed loop. The larger the KVP value,
the higher the response frequency of the speed loop and the lower the following
error. However, if you set the value too high, it could cause machinery resonance.
The response frequency of the speed loop must be 4-6 times higher than the
response frequency of the position loop; otherwise, the machinery might vibrate
or it might cause overshoot when positioning. The calculation of speed loop
frequency response is as follows:
JM= Motor Inertia; JL: Load Inertia; P1.037: 0.1 (times)
When ID144 (P1.037) (auto estimation or manually set value) is equal to the real
inertia ratio (JL / JM), the real speed loop frequency response is:
ID191 (P2.006) VelocityIntegralGain [KVI]
The higher the KVI value, the better the mitigation of the deviation. However, if
you set the value too high, it can cause the machinery to vibrate. It is suggested
that you set the value as follows:
Frequency response bandwidth of position loop (Hz)
KPP
2
π
-----------
=
fv
KVP
2
π
------------
 
 
1
P1.037
( )
10
⁄
+
1 JL
JM
-------
+
----------------------------------------
 
 
 
 
Hz
×
=
fv
KVP
2
π
-------------
 
 
Hz =
KVI (P2.006) 1.5 Speed loop frequency response
× ≤