Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 413)

Publication 1784-UM003A-EN-P – June 2003
Motion Object Attributes 405
Commissioning
Configuration Attributes The Axis Object provides sophisticated automatic test tuning instructions,
which allow it to determine proper settings for the servo loop attributes for
each axis. These include not only the polarities, the gains, and also the
maximum acceleration, deceleration, and velocity parameters.
The servo loop parameters need only be tested and tuned once when the
motion controller is first integrated into the machine or when the machine is
being commissioned at start-up. However, if the load on any axis changes
significantly or if the motor or drive amplifier is replaced for any reason, it may
be necessary to re-test and re-tune the servo loop parameters.
The Commissioning Configuration Attributes are used to control the axis test
and tuning processes that are initiated by the MRHD and MRAT instructions.
These values should be established before the MRHD or MRAT instructions
are executed.
Test Increment The Test Increment attribute is used in conjunction with the MRHD (Motion
Run Hookup Diagnostic) instruction to determine the amount of motion that
is necessary to satisfy the MRHD initiated test process. This value is typically
set to approximately a quarter of a revolution of the motor.
Tuning Travel Limit The Tuning Travel Limit attribute is used in conjunction with the MRAT
(Motion Run Axis Tuning) instruction to limit the excursion of the axis during
the test. If, while performing the tuning motion profile, the SERCOS module
determines that the axis will not be able to complete the tuning process before
exceeding the Tuning Travel Limit, the SERCOS module will terminate the
tuning profile and report that the Tuning Travel Limit was exceeded via the
Tune Status attribute. This does not mean that the Tuning Travel Limit was
actually exceeded, but that had the tuning process gone to completion that the
limit would have been exceeded.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Test Increment REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Tuning Travel Limit REAL Position Units