Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 192)

192 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 7 Configure and Start the Kinetix 6500 Drive System
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 Autotune category.
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 appropriate for your
application.
Forward Uni-directional is default.
5. Edit other fields as appropriate for your application.
6. Determine your need for a hardware enable input at IOD-41 on the I/O
connector.
Digital input 1 (IOD-41) is configured as Enable in RSLogix 5000
software by default. You may have changed that on
page 179 .
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.
If Digital Input 1 is configured as Then
Enable Go to step 7 .
Unassigned Go to step 8 .