Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 169)

Setting Up Your IMC-S/23x Using GML 6-9
Publication 999-122 - January 1997
11.Select Start. The GML Info window appears showing velocity and
overshoot.
12.When drive adjustments are complete, select Abort.
13.Go to Tuning Servo Parameters.
Tuning Servo Parameters
To tune servo parameters:
1. Select Tune Servo Params.
2. Select Execute. The Motion Parameters window appears.
Note: In most cases, the default values in this window will
work very well, however, you can modify the
values, as needed, for your application.
3. Select Start. The Diagram window appears briefly, followed by the
GML Info window which contains a "Servo Parameter Tuning
Successful!" message. The axis rotates according to the auto tuning
setups to determine maximum velocity/acceleration/ deceleration
and gains.
Note: If a message other than this appears, repeat these
steps adjusting the parameters in the Motion
Parameters window as needed.
4. Click OK. The Do Setups window appears.
Note: To see your setups before you save them, select
Dynamic Gains Edit or Dynamic Vel/Acc/Dec Edit
in the Do Setups window.
5.
Important: If you do not save your parameters, you will lose all of
the information you just set up.
!
ATTENTION: Selecting Start at this point causes
motion to occur.
If you have: Do this:
More axes to define Select another axis.
Go to Testing motor connections
and Defining Direction.
Defined all of your axes Go to Saving Your Parameters.