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Configuring the Ultra3000 Drive Chapter 3
Current Limits
Positive The drive's positive current limit value.
Note: The value entered here is divided by the lesser of
intermittent drive current rating and intermittent current rating of
the motor, and is stored on the drive as a percentage. If a different
motor is selected for the drive, with a different current capacity,
this parameter value changes.
During runtime, the drive limits positive current to the lesser of:
• the Positive Current Limit (this value),
• the analog current limit Input (an analog input of the drive that
limits current proportionately to its value),
• the Intermittent Current rating of the drive (a fixed value, hard-
coded into the drive), or
• the Intermittent Current rating of the motor (stored in the motor
database).
Negative The drive's negative current limit runtime value.
Note: The value entered here is divided by the lesser of
intermittent drive current rating and intermittent current rating of
the motor, and is stored on the drive as a percentage. If a different
motor is selected for the drive, with a different current capacity,
this parameter value changes.
During runtime, the drive limits negative current to the lesser of:
• the Negative Current Limit (this value),
• the analog current limit Input (an analog input of the drive that
limits current proportionately to its value),
• the Intermittent Current rating of the drive (a fixed value, hard-
coded into the drive), or
• the Intermittent Current rating of the motor (stored in the motor
database).
Position Limits
Positive Decel Distance The stopping distance used when the drive encounters a positive
overtravel limit.
Negative Decel Distance The stopping distance used when the drive encounters a negative
overtravel limit.
Enable Soft Limits Select:
• On: Causes the drive to compare the motor feedback position to
the Positive and Negative Soft Limits to determine if the drive
has exceeded an overtravel limit.
• Off: Turns off software overtravel limit checking.
Positive Soft Limit If the motor feedback position is greater than this value, the drive
has exceeded the soft overtravel limit.
Negative Soft Limit If the motor feedback position is less than this value, the drive has
exceeded the soft overtravel limit.
Speed Functions
Zero Speed This value creates a plus or minus (+/-) range, or window, around
the zero velocity. If the motor feedback velocity falls within this
range, the Zero Speed flag is (or remains) set.
Note: You can assign the Zero Speed, In Speed Window or Up To
Speed flags to digital outputs and control execution of your
process based on the state of these flags.
In Speed Window This value creates a plus or minus (+/-) range, or window, around
the programmed velocity. If the motor feedback velocity falls
within this range, the In Speed Window flag is (or remains) set.
Up to Speed This value sets a velocity level. If the motor feedback velocity is
greater than or equal to this value, the Up To Speed flag is (or
remains) set.
Parameter Description
- 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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