Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 143)

Understanding IMC-S/23x Setups 5-63
Publication 999-122 - January 1997
If the specified maximum tuning travel distance is too short to
adequately tune the axis, the message
is displayed. Specify a larger maximum tuning travel distance (the axis
may need to be re-positioned manually) and run the self tuning
procedure again.
If this axis is using a torque loop servo amplifier and the specified tuning
speed could not be reached within the specified maximum tuning travel
using the specified tuning output limit, the message
is displayed. In this case, run the self tuning procedure again specifying
a lower tuning speed, a higher maximum tuning travel, or a higher
tuning output limit. If possible, it is best to increase the maximum tuning
travel to give the self tuning more "room" to operate. If this is not
possible due to physical travel constraints on the axis, either the tuning
output limit must be increased or the tuning speed must be decreased.
For a torque loop servo amplifier, the distance traveled during the self
tuning procedure is proportional to the square of the specified tuning
speed and inversely proportional to the specified tuning output limit,
as shown by the formula below.
This means that if the tuning output limit is doubled, the distance
required to self tune the axis is cut in half. However, if the tuning speed
is cut in half the axis can be self tuned in one-quarter of the distance.
!
ATTENTION: Press ESC (Escape) to immediately
abort the self tuning routine.
*** Safe Travel Limit Exceeded:
*** Travel Limit Too Small!
*** Did Not Reach Tuning Speed:
*** Try Again with Lower Tuning Speed
*** or Higher Max Travel/Torque Limit!
*** Gains Not Tuned!
TuningTravel
α TuningSpeed 2
TuningOutputLimit
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