Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 129)

Understanding IMC-S/23x Setups 5-49
Publication 999-122 - January 1997
Enter the desired Magnitude in Volts, Duration in Seconds, and Type
for the test pulse. A single pulse of either polarity or a repeating string
of pulses of either polarity or of alternating polarity may be selected.
The pulse magnitude should always be a positive number–select the
direction via pulse type. The five types are shown below.
A small magnitude (1 - 2 volt) pulse is recommended for evaluating
the small-signal response of the system and setting the Gain or
Response pots, while a large value (5 - 10 volts) works best for adjusting
the speed scaling of the drive. Note that for the repeating pulse types,
the delay between pulses is equal to the pulse duration (50% duty cycle).
Remember that the speed of the motor is proportional to the pulse
magnitude and that the distance traveled is proportional to both the
magnitude and duration of the pulse(s). Be very careful in using
Repeating + Pulses or Repeating - Pulses if the axis
has mechanical travel limits.