Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System User Manual - Manual (Page 141)

Publication 1394-5.0 — May 2000
Configuring Your 1394 Analog Servo System 8-5
[ATune Frictn]
The system friction as measured by the auto tune
cycle is represented through this parameter.
Parameter Numbers 300, 301, 302, 303
Parameter Group ATune Config
Display Units %
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0%
Maximum Value 12%
Default Value 6%
[ATune Inertia]
System inertia as measured by auto tuning. This
parameter is calculated during auto tune and is
the time that the motor and load takes to reach
[ATune Vel] at [ATune Current] and back to zero
rpm. This needs no manual user adjustment,
since it is a product of the auto tune function. To
determine the inertia of the machine system, use
the following formula:
Parameter Numbers 292, 293, 294, 295
Parameter Group ATune Config
Display Units msec
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value 0 msec
Maximum Value 10000 msec
Default Value 5 msec
[ATune Select]
This parameter initiates an auto tune cycle that
measures the [ATune Inertia] and [ATune Frictn]
by accelerating the motor up to the [ATune Vel]
at the [ATune Current]. The parameter also
calculates the gains based on auto tune
information.
Parameter Numbers 296, 297, 298, 299
Parameter Group ATune Config, Startup Parms
Parameter Type Read/Write
Change While Running Yes
Linkable No
Default Value 0 "idle"
Selections 0 "Idle" Indicates the auto tune system can be used, written
command forces the system to idle.
1 "Axis Tune" Written as a command, initiates the auto tune
process, messages will be displayed to enable axis,
wait, disable axis. "Calculate" is also performed.
2 "Calculate" Calculates gain coefficients based off data acquired
during auto tuning. This command can be issued
manually to calculate gains after manual
modifications to the auto-tune acquired information.
[ATune Vel]
This parameter specifies the maximum velocity
of the motor attained during an auto tune cycle,
as well as direction of movement.
Parameter Numbers 284, 285, 286, 287
Parameter Group ATune Config
Display Units rpm
Parameter Type Read/Write
Change While Running Yes
Linkable No
Minimum Value -2000.0 rpm
Maximum Value +2000.0 rpm
Default Value +1000.0 rpm
Note: The value for rotor inertia (lb-in.-s ) is listed on the servo motor performace data table in Appendix A. 2
J
system
=
[AutoTuneInertia]
[MtrInertia] inertia
Rotor
*
0.83 *