Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 137)

Publication 1784-UM003A-EN-P – June 2003
Naming & Configuring Your Motion Axis 129
Gains Tab - AXIS_SERVO Use this tab to perform the following offline functions:
• adjust, or “tweak” gain values that have been automatically set by the
tuning process (in the Tune tab of this dialog)
• manually configure gains for the velocity and position loops
for an axis of the type AXIS_SERVO, which has been configured for Servo
operations (set in the General tab of this dialog box), with Position Loop
Configuration.
Figure 6.26 Axis Properties - Gains Tab for Axis_Servo
The drive module uses a nested digital servo control loop consisting of a
position loop with proportional, integral and feed-forward gains around an
optional digitally synthesized inner velocity loop. The parameters on this tab
can be edited in either of two ways:
• edit on this tab by typing your parameter changes and then clicking on
OK or Apply to save your edits
• edit in the Manual Adjust dialog: click on the Manual Adjust button to
open the Manual Adjust dialog to this tab and use the spin controls to
edit parameter settings. Your changes are saved the moment a spin
control changes any parameter value.