Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 141)

Understanding IMC-S/23x Setups 5-61
Publication 999-122 - January 1997
During this motion, the total inertia of the system as well as the
maximum speed, acceleration, and deceleration capabilities of the
system are measured. These measured values are then used to calculate
and set the servo parameters.
Before tuning the servo gains, a number of parameters must be entered.
These parameters constrain the motion produced by the tuning routine
so that no damage to the machine occurs. The IMC-S/23x next displays
prompting you to enter the direction for the self tuning motion. Toggle
to the desired direction for this axis and press ENTER. All motion
during the self tuning routine occurs in the specified direction, making
it easy to tune axes or machines which are mechanically constrained to
move in only one direction. If your axis can move in either direction,
choose the direction which provides the longest distance for tuning.
The IMC-S/23x next displays
prompting you to enter the maximum distance available for tuning in
the chosen direction. Enter the maximum distance in the specified
direction which the axis should be allowed to move during the self
tuning and press ENTER. The value should be entered in the position
units of the axis.
If this axis is using a torque loop servo amplifier, the IMC-S/23x next
displays
prompting you to enter the maximum speed which the axis should be
allowed to reach during the self tuning in the position units of the axis
per second. For best self tuning results, enter the maximum speed at
which the axis is expected to operate. Do not enter a speed which is
above the capabilities of the axis! If the drive system is capable of
moving the axis faster than this speed, the maximum velocity will be
limited to the specified value during the tuning procedure.
Tune Servo Parameters? YES
Tuning Direction? POSITIVE
Tuning Direction? POSITIVE
Max Tuning Travel (Position Units) =
Max Tuning Travel (Position Units) =
Tuning Speed (Position Units/Sec) =