Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 149)

Understanding IMC-S/23x Setups 5-69
Publication 999-122 - January 1997
Setting the Drive Offset and Deadband Compensation
Use the motor/encoder test in the hookup diagnostics menu to tune the
drive offset and the deadband compensation. If this axis is using a
velocity loop servo amplifier, also use the digital battery box in the
hookup diagnostics menu to tune the servo amplifier before tuning the
motion controller gains. See Hookup Diagnostics earlier in this section
for more information on the motor/encoder test and the digital battery
box.
Setting the Velocity Gain
If you are using a velocity loop servo amplifier, the software velocity
loop (see Technical Overview earlier in this manual) is disabled. Set
the velocity gain to the value calculated by the following formula.
For example, if this axis is using position units of motor revolutions
(revs), a 1000 line encoder mounted on the motor, and the servo drive
is scaled such that with an input of 10V the motor goes 5,000 RPM,
the V gain would be calculated as shown below.
If you are using a torque (current) loop servo amplifier, increase the
velocity gain, starting at 1, to provide damping. As the velocity gain is
increased, notice that the motor (or axis) resists changes in speed as
you move it by hand. Increase the velocity gain until you notice a grainy
or cogging feeling as you move the axis. Set the V gain to about 50%
of this value.
If this axis uses a torque loop servo amplifier and you are converting it
from a basic (IMC-S/20x) or integrated (IMC-S/21x) IMC S Class
motion controller, use the same V gain in the IMC S Class Compact
(IMC-S/23x) as was used in the basic or integrated controller.
10,000,000
V gain
Speed @ 10V x K
PositionUnits
Second
--------------------------------------
[ ] Counts
PositionUnit
-----------------------------------
[ ]
10,000,000
V gain
(5000 RPM x ) ( ) 1Minute
60Seconds
-----------------------------
1 000x4Counts ,
R ev
-----------------------------------------
= 30