Rockwell Automation 2094-xMxx-S Kinetix 6000 Multi-axis Servo Drives User Manual - Manual (Page 241)

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 241
Configure the Load Observer Feature Appendix D
Auto-tune Gain Settings
This procedure explains how to configure the load observer feature after running
Auto-tune. This method also works for any existing gain set where the Load
Inertia Ratio is known or manually calculated, for example, the Load Inertia
Ratio > 0.
1. Click the Tune tab in the Axis Properties dialog box and perform Auto-
tune.
For variable inertia loads, perform Auto-tune at the point of lowest
mechanical inertia. If you manually calculate the Load Inertia Ratio, use
the minimum load inertia.
2. Click the Output tab in the Axis Properties dialog box and verify that the
Load Inertia Ratio > 0.
3. Click the Gains tab in the Axis Properties dialog box.
The current Position and Velocity gain values are used to recalculate other
gain values.
4. Determine if the mechanical load connected to the motor is rigid or
compliant.
• Rigid systems typically involve high-performance load mechanics that
are tightly coupled directly to the motor shaft.
Refer to Rigid Mechanical Loads on
page 242 , for rigid applications.
• Everything else is compliant, including systems with belts and pulleys,
long shafts, short shafts with heavy loads, and couplings and gearboxes
with backlash and/or lost motion.
Refer to Compliant Mechanical Loads on
page 242 , for compliant
applications.