Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual
Page 83
Run Menu • Tune
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Publication 1398-PM601A-EN-P — October 2000
MENUS
11. Adjust KI. Enter a value for IZONE (about twice the In-Position Window is a reasonable value).
Begin slowly increasing the KI value from 0 while watching the VEL1 signal on the oscilloscope.
As KI is increased, the system will begin to overshoot. KI should be adjusted to achieve the fastest
possible time to come into position with minimum overshoot.
12. When you are satisfied that the gains have been set to give the correct system response, select the
OK button to save the settings and exit. Select Gains/Limits from the Parameter menu and set the
Following Error Limit Time and Size parameters back down to reasonable values.
13. To restore the gains to the previous values, choose the Reset Gains button. To restore the gains to
the previous values AND exit the Tune mode, choose the Cancel button.