Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 145)

Understanding IMC-S/23x Setups 5-65
Publication 999-122 - January 1997
While the damping factor may also be reduced to decrease the damping,
this is also rarely effective–the servo loop response is made faster and
the amount of overshoot at the end of moves is increased. Usually,
damping factors less than 0.5 should not be used since the resulting
loop gains may cause the axis to become unstable.
The measured bandwidth of the velocity loop amplifier (if this axis is
using a velocity loop servo amplifier) and the calculated maximum
possible positioning bandwidth of the axis in Hertz based on the
specified damping factor and the measured response is displayed next.
Unless different values are entered, these are the bandwidths which will
be used to calculate the servo gains. Initially, press ENTER to use the
displayed bandwidths to calculate servo gains which provide maximum
system bandwidth.
The measured velocity bandwidth may be overridden by entering a
different value. However, this should only be done if the self-tuning
routine fails to provide adequate performance and you know the actual
bandwidth of your velocity loop.
If necessary, the position bandwidth may be decreased if required in
your application. Decreasing the position bandwidth slows down the
response of the axis by making it less responsive to rapid command
changes. Never increase the position bandwidth by entering a value
greater than that calculated by the self tuning routine–the resulting
system could be highly unstable!
!
ATTENTION: Do not use a damping factor less than
0.5 or greater than 2 for most systems.
!
ATTENTION: Do not enter a position bandwidth
greater than that calculated by the self-tuning routine.
Velocity Bandwidth (Hz) =
Position Bandwidth (Hz) =