Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 251)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 253
Configuring the Kinetix 3 Drive Chapter 5
Understanding the Tuning
Window The Properties window for the Tuning branch looks like this.
Use the Tuning window to:
• Configure Velocity, Position, and Current Regulator Gains.
• Configure and execute autotuning.
• Configure an alternative set of gains, that can be activated by a digital
input.
• Monitor Velocity, Position and Current loop statuses.
The Inertia Ratio in the Motor window is the most fundamental property
to adjust for proper tuning. The Inertia Ratio can be set automatically by
running the Autotuning command, or entered manually if it is known.
One of these should be done as the first step in tuning.