Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) User Manual
Page 8
LE
Table of Contents
Publication 999-122 January 1997
Self-Tuning the Servo Gains ........................ 5-60
Using the Position Error Integrator ........... 5-66
Using Velocity Feedforward ...................... 5-66
Tuning Faults ............................................... 5-67
Aborted by Escape! ................................... 5-67
Encoder Fault! ........................................... 5-67
Hit Hardware Overtravel Limit! ................ 5-67
Position Error Tolerance Exceeded! .......... 5-68
Drive Fault Detected! ................................ 5-68
Manually Tuning the Loop Gains 5-68
Setting the Drive Offset & Deadband Comp 5-69
Setting the Velocity Gain ........................... 5-69
Setting the Proportional Gain .................... 5-70
Setting the Integral Gain ............................ 5-71
Setting the Feedforward Gain .................... 5-72
Setting the Position Error Tolerance.......... 5-72
Saving Setup Values .................................... 5-73
Setup Menu Reference ................................. 5-74
Chapter 6 – Setting Up Your IMC-S/23x Using GML
Chapter Objectives ......................................... 6-1
General Startup Precautions ........................... 6-1
Setting Up Your Compact.............................. 6-2
Before You Begin ........................................ 6-2
Preparing the System ................................... 6-2
Getting Started ............................................. 6-3
Defining Preferences ................................. 6-3
Defining Your Controller and Its Options .... 6-4
Defining Your Axes................................... 6-5
Applying Power ........................................... 6-6
Establishing Communication....................... 6-6
Downloading Your Diagram ..................... 6-7
Testing Motor Connections & Defining Dir 6-7
Testing the Encoder Marker ...................... 6-8
Tuning a Velocity Loop ............................. 6-8
Tuning Servo Parameters .......................... 6-9
Saving Your Parameters .......................... 6-10
Chapter 7 – Troubleshooting
Chapter Objectives ......................................... 7-1
Understanding How to Detect a Problem ...... 7-1
Replacing Modules ........................................ 7-2
Before You Begin ........................................ 7-2