Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 142)

5-62 Understanding IMC-S/23x Setups
Publication 999-122 - January 1997
The IMC-S/23x next displays
prompting you to enter the maximum percentage of the servo output
limit entered in the machine setup menu to use for tuning. If this axis
is using a velocity loop amplifier, the tuning output limit is an additional
maximum speed limit. If this axis is using a torque loop amplifier, the
tuning output limit is an additional torque limit. The self tuning routine
actually uses 85% of the entered value to provide some headroom. Enter
100 for the tuning output limit to limit the servo output to the value
specified in the machine setup menu.
Enter a lower value to further limit the servo output for the self tuning
procedure. For example if the servo output is configured for voltage
output and the servo output limit entered in the machine setup menu
for this axis is 9V, entering a tuning output limit of 90% limits the actual
servo output during self tuning to 6.885V (85% of 90% of 9V). If this
axis is using a velocity loop amplifier, this limits axis speed to 68.85%
of the motor’s speed with a 10V command. If this axis is using a torque
loop amplifier, this limits motor torque to 68.85% of the torque
produced by a 10V command.
When the IMC-S/23x prompts
it is ready to execute the self tuning routine. Ensure that the machine
is also ready, toggle to
YES , and press ENTER to tune the axis.
The message
is displayed while the axis is being tuned.
If at any time during the automatic tuning, axis motion becomes
alarming or there is danger of damage or injury, press the escape key
(ESC)on the terminal. This immediately stops all motion and aborts
the tuning routine displaying
!
ATTENTION: Do not enter a Tuning Speed greater
than the maximum possible speed of the axis.
Tuning Output Limit (% of Max) =
Tuning Output Limit (% of Max) =
Ready? NO
Ready? YES
Tuning...
*** Aborted by Escape!
*** Gains Not Tuned!
Review Servo Parameters? NO