Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 160)

5-80 Understanding IMC-S/23x Setups
Publication 999-122 - January 1997
IMC-S/23x Servo Setup Menu Reference
Prompt Data
Select: AXIS #/IMAGINARY/VIRTUAL AXIS #
This Axis Is NOT a SERVO Axis!
This Axis is NOT CONFIGURED!
Another Axis?? NO/YES
Tune Servo Parameters?? NO/YES
Tuning Direction?? POSITIVE/NEGATIVE
Max Tuning Travel (Position Units) =
__________
Tuning Speed (Position Units/Sec) = __________
Tuning Output Limit (% of Max) = __________
Ready?? NO/YES
Tuning. . . .
***Aborted by Escape!
***Safe Travel Limit Exceeded:
***Travel Limit Too Small!
***Encoder Fault!
***Hit Hardware Overtravel Limit!
***Pos Error Tolerance Exceeded!
***Drive Fault Detected!
***Did Not Reach Tuning Speed:
***Try Again with Lower Tuning Speed
***or Higher Max Travel/Torque Limit!
***Insufficient Travel for Tuning:
***Try Again with Lower Max Output
***or Higher Max Travel Limit!
***Gains Not Tuned!
Tuning Complete!
Damping Factor: 0.8
__________
Velocity Bandwidth (Hz) =
Position Bandwidth (Hz) =
__________
Use Position Error Integrator?? NO/YES
Use Velocity Feedforward?? NO/YES
Gains Computed!
Feedback On!
D52
D86
D87
D84
D83
D0-3,
D15,
D19-21
Review Servo Parameters?? NO/YES
Feedback Off!
P Gain (1/mSec) =
__________
I Gain (1/mSec2) = __________
V Gain (mV/KCPS) = __________
F Gain = __________
Deadband Comp (Volts) = __________
Drive Offset Comp (Volts) = __________
Max Velocity (Position Units/Sec) = __________
Max Accel (Position Units/Sec2) = __________
Max Decel (Position Units/Sec2) = __________
Pos Error Tol (Position Units) = __________
Another Axis?? NO/YES
D0
D1
D3
D2
D4
D7
D19
D20
D21
D15