Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 148)

5-68 Understanding IMC-S/23x Setups
Publication 999-122 - January 1997
Position Error Tolerance Exceeded!
This message indicates that the position error of the axis exceeded the
position error tolerance during the self tuning procedure. See Setting
the Position Error Tolerance later in this section for information on
setting the position error tolerance.
Drive Fault Detected!
This message indicates that the axis’ drive fault input was activated
during the self tuning procedure. See Editing the Servo Configuration
earlier in this section for more information on configuring the drive
fault input.
Manually Tuning the
Loop Gains Even though the self tuning procedure works satisfactorily with most
systems, it is possible that they will fail to yield satisfactory results in
your particular application. If this is the case, the servo loop gains,
maximum acceleration and deceleration, maximum velocity, and
position error tolerance values can be tuned manually using the
following procedures. For the imaginary axis, these values must be
entered manually.
It is recommended that the loop gain parameters be adjusted in the
following order:
Drive Offset and deadband compensation
Velocity gain
Proportional gain
Integral gain (optional)
Feedforward gain (optional)
In general, each parameter is adjusted (tuned) by starting initially with
a low value, evaluating the response of the system, and increasing the
value until the desired response is achieved.
To begin the gain tuning procedure, answer YES to the Review
Servo Parameters? question in the servo setup menu. Next, set
all the gains to zero, the maximum acceleration, deceleration, and
velocity to reasonable values, and the position error tolerance to an
arbitrarily large value to avoid nuisance faults while tuning the gains.
These values should reflect the actual performance limits of each axis.
Do not enter values higher than what can be reasonably expected from
your system!