Rockwell Automation MDF-SB1304F Kinetix 6000M Integrated Drive-Motor System - Manual (Page 85)

Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 85
Configuring the Kinetix 6000M System Chapter 6
Tune the Axes
Follow these steps to tune the axes.
1. Verify the load is still removed from the axis being tuned.
2. Click the Tune tab.
3. Type values for Travel Limit and Speed.
In this example, Travel Limit = 5 and Speed = 10. The actual value of
programmed units depend on your application.
4. From the Direction pull-down menu, choose a setting.
Forward Uni-directional is default.
5. Check Tune boxes as appropriate for your application.
6. Apply Hardware Enable Input signal for the axis you are tuning.
7. Click Start Tuning to auto-tune your axis.
The Online Command - Tune Servo dialog box opens. When the test
completes, the Command Status changes from Executing to Command
Complete.
ATTENTION: To reduce the possibility of unpredictable motor response,
tune your motor with the load removed first, then re-attach the load
and perform the tuning procedure again to provide an accurate
operational response.
IMPORTANT Hardware Enable input for IDM units is on the IPIM module.