Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 132)

Publication 1784-UM003A-EN-P – June 2003
124 Naming & Configuring Your Motion Axis
Speed
Determines the maximum speed for the tune process. This value should be set
to the desired maximum operating speed of the motor (in engineering units)
prior to running the tune test.
Torque
The maximum torque of the tune test. This attribute should be set to the
desired maximum safe torque level prior to running the tune test. The default
value is 100%, which yields the most accurate measure of the acceleration and
deceleration capabilities of the system.
Note: In some cases a lower tuning torque limit value may be desirable
to limit the stress on the mechanics during the tuning procedure. In this
case the acceleration and deceleration capabilities of the system are
extrapolated based on the ratio of the tuning torque to the maximum
torque output of the system. Extrapolation error increases as the Tuning
Torque value decreases.
Direction
The direction of the tuning motion profile. Negative indicates the reverse
direction; positive indicates the forward direction.
Damping Factor
Specifies the dynamic response of the servo axis. The default is set to 0.8.
When gains are tuned using a small damping factor, a step response test
performed on the axis may generate uncontrolled oscillation. The gains
generated using a larger damping factor would produce a system step response
that has no overshoot and is stable, but may be sluggish in response to
changes.
Note: The tuning procedure uses the Damping Factor that is set in this
field. However, when the controller recalculates certain attributes in
response to a Motor Catalog Number change (on the Motor/Feedback
tab), the controller uses the default Damping Factor value of 0.8, and
not a different value set in this field.