Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 142)

Publication 1784-UM003A-EN-P – June 2003
134 Naming & Configuring Your Motion Axis
Gains Tab - AXIS_SERVO_DRIVE 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_DRIVE.
Figure 6.28 Axis Properties - Gains Tab for Axis_Servo_Drive
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 specific design of this
nested loop depends upon the Loop Configuration selected in the Drive tab of
this dialog box. For a discussion, including a diagram, of a loop configuration,
click on the following loop configuration types:
• Motor Position Servo Loop
• Auxiliary Position Servo Loop
• Dual Position Servo Loop
• Motor Dual Command Servo Loop
• Auxiliary Dual Command Servo Loop
• Velocity Servo Loop
• Torque Servo Loop