Rockwell Automation MPAS Integrated Linear Stages - Manual (Page 51)

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 51
Configuration Guidelines Chapter 6
Calculate and Configure the Loop Gain
You must calculate a position loop bandwidth based on the actual measured
inertia. This is done by using the values from the Tune Results dialog box for a
ball screw drive linear stage.
The Tune Results dialog box above shows a default Position Loop Bandwidth of
45.14153 Hz, and a Load Inertia Ratio of 6.8707952.
1. Calculate the Corrected Position Bandwidth as follows:
Corrected Position Loop Bandwidth = (Initial Position Loop Bandwidth
Result/(Initial Load Inertia Ratio Result +1)
For example, 5.73532 = 45.14153 / 7.8707952.
2. Enter the Corrected Position Bandwidth value 5.73532 as the Position
Loop Bandwidth and click OK.
IMPORTANT These Loop Gain procedures apply to only ball screw linear stages.