Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 147)

Understanding IMC-S/23x Setups 5-67
Publication 999-122 - January 1997
After determining whether or not to use the position loop integrator and
velocity feedforward, the servo loop gains are calculated and feedback
turned
ON . The computed loop gains, maximum acceleration and
deceleration, maximum velocity, and position error tolerance values
may then be reviewed and edited, if desired. Feedback is disabled while
the gains are being edited to prevent an undesired or unexpected
machine motion should an erroneous gain value be entered.
Regardless of whether velocity feedforward is used for this axis, the
position error tolerance of the axis is set to twice the position loop
following error at maximum velocity without feedforward.
Tuning Faults During the self tuning procedure, a fault on the axis may occur which
prevents the procedure from completing properly. If this happens, the
message
is displayed. The fault message indicates what caused the fault, as
explained below.
Aborted by Escape!
This message is displayed when the ESC (Escape) key is pressed to
immediately abort the self tuning routine. Re-run the self tuning with
a different maximum tuning travel, tuning speed, and/or tuning output
limit such that it is not necessary to abort the procedure.
Encoder Fault!
This message indicates that either noise was detected on the axis’
encoder input or that one of the encoder connections is broken. See
Checking Motors/Encoders earlier in this section for more information
on encoder noise and loss.
Hit Hardware Overtravel Limit!
This message indicates that one of the overtravel limit switches was
activated during the self tuning procedure. See Editing the Overtravel
Configuration earlier in this section for more information on
configuring the overtravel limit switches.
*** Fault Message
*** Gains Not Tuned!