# US 2009/0134829 A1 · Wizard For Configuring A Motor Drive System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2009/0134829 A1 - Document ID: US20090134829A1 - Status: Published application - Kind: A1 - Application number: 12/125,210 - Filed: 2008-05-22 - Published: 2009-05-28 - Earliest claimed: 2005-05-31 - Assignees: Rockwell Automation Technologies, Inc. - Inventors: KEVIN L. BAUMANN; THOMAS J. REHM; RICHARD W. PIEFER; JOHN JOSEPH GOLOWNIA, JR.; JOHN M. KELLER; DAVID CHRISTOPHER STRINGFELLOW; MICHAEL ROBERT KELLER - Web page: https://patentgrep.com/patent/US20090134829A1 ## CPC - G05B 19/409: characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters (G05B19/408, G05B19/4093 take precedence) - G05B 2219/33114: Configure motion controller to drive any kind of motor type connected - G05B 2219/33127: Display each control parameter by name and its value - G05B 2219/36122: Operator menu with submenu for each item - G05B 2219/45187: Printer - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract An electronic line shaft comprising a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics and a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface and to determine a noise parameter based on the mechanical characteristic data, wherein the at least one controllable filter parameter is adjusted as a function of the noise parameter. ## Claims ### Claim 1 An electronic line shaft, comprising: a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics; and a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface and to determine a noise parameter based on the mechanical characteristic data; wherein the at least one controllable filter parameter is adjusted as a function of the noise parameter. ### Claim 2 (depends on 1) The line shaft of claim 1 wherein the at least one controllable noise parameter includes a number of taps in the velocity noise filter. ### Claim 3 (depends on 2) The line shaft of claim 2, wherein the motor drive further comprises a velocity regulator having a first adjuster operable to receive the feedback velocity signal and a reference velocity signal and compare the reference velocity signal and the feedback velocity signal to generate a velocity error signal and a velocity error filter operable to filter the velocity error signal, and the wizard is operable to determine a bandwidth of the velocity error filter as the control parameter based on the number of taps. ### Claim 4 (depends on 3) The line shaft of claim 3, wherein the motor drive further comprises a velocity compensator operable to receive a reference velocity signal, determine a derivative of the reference velocity signal, and multiply the derivative by a velocity compensation gain factor to generate a velocity compensation signal, and the wizard is operable to determine the velocity compensation gain factor as the control parameter based on the number of taps. ### Claim 5 (depends on 1) The line shaft of claim 1 wherein the at least one controllable noise parameter comprises a noise index. ### Claim 6 (depends on 1) The line shaft of claim 1 wherein the motor drive further comprises an inertia adaption unit operable to receive the feedback velocity signal and generate a feedback acceleration signal based on the feedback velocity signal, the wizard operable to enable or disable the inertia adaption unit based on the mechanical characteristic data. ### Claim 7 (depends on 6) The line shaft of claim 6 further comprising: an inertia compensation unit operable to receive a reference velocity signal, generate a derivative of the reference velocity signal, and multiply the derivative by an inertia compensation gain factor to generate an inertia compensation signal; and an adjustor operable to adjust the reference velocity signal as a function of the inertia compensation signal; wherein the wizard is operable to receive a system inertia parameter, determine the inertia compensation gain factor as a function of the system inertia parameter, and adjust the inertia compensation gain factor responsive to the enabling of the inertia adaption unit. ### Claim 8 (depends on 7) The electronic line shaft of claim 7, wherein the wizard is operable to increase the inertia compensation gain factor by a factor of about 50% responsive to the enabling of the inertia adaption unit. ### Claim 9 (depends on 2) The electronic line shaft of claim 2 wherein the wizard is operable to determine a noise bandwidth based on the number of taps in the velocity noise filter, set the noise bandwidth as a maximum velocity bandwidth, and limit the selected velocity bandwidth to a value less than the maximum velocity bandwidth. ### Claim 10 (depends on 9) The electronic line shaft of claim 9 wherein the controller gain constant comprises at least one of a proportional gain constant and an integral gain constant. ### Claim 11 An electronic line shaft, comprising: a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal; and a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface device, determine a noise parameter based on the mechanical characteristic data and determine at least one control parameter of the motor drive based on the noise parameter; wherein the control parameter comprises a number of taps in the velocity noise filter. ### Claim 12 A method for configuring a motor drive, the motor drive including a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics, the method comprising the steps of: providing a wizard for entering user input via a user interface, the input including mechanical characteristic data associated with the motor drive; receiving the mechanical characteristic data; determining a noise parameter based at least in part on the mechanical characteristic data; and using the noise parameter to adjust the at least one controllable filter parameter. ### Claim 13 (depends on 12) The method of claim 12, wherein determining the noise parameter further comprises determining a noise index. ### Claim 14 (depends on 12) The method of claim 12, wherein the step of determining a noise parameter includes determining a number of taps in the velocity noise filter. ### Claim 15 An electronic line shaft, comprising: a motor drive; and a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user, determine a noise parameter based on the mechanical characteristic data, and determine at least one control parameter of the motor drive based on the noise parameter. ### Claim 16 (depends on 15) The electronic line shaft of claim 15 wherein the noise parameter comprises a noise index. ### Claim 17 (depends on 15) The electronic line shaft of claim 15 wherein the motor drive comprises a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal, and the control parameter comprises a number of taps in the velocity noise filter. ### Claim 18 (depends on 17) The electronic line shaft of claim 17, wherein the motor drive further comprises a velocity regulator having a first adjuster operable to receive the feedback velocity signal and a reference velocity signal and compare the reference velocity signal and the feedback velocity signal to generate a velocity error signal and a velocity error filter operable to filter the velocity error signal, and the wizard is operable to determine a bandwidth of the velocity error filter as the control parameter based on the number of taps. ### Claim 19 (depends on 17) The electronic line shaft of claim 17 wherein the motor drive further comprises a velocity compensator operable to receive a reference velocity signal, determine a derivative of the reference velocity signal, and multiply the derivative by a velocity compensation gain factor to generate a velocity compensation signal, and the wizard is operable to determine the velocity compensation gain factor as the control parameter based on the number of taps. ### Claim 20 (depends on 15) The electronic line shaft of claim 15 wherein the motor drive further comprises an inertia adaption unit operable to receive a feedback velocity signal and generate a feedback acceleration signal based on the feedback velocity signal, and the wizard is operable to enable or disable the inertia adaption unit based on the mechanical characteristic data.