Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 88)

5-2 2-Axis Servo Module M/N 57C422B
software.
5.2.1 Auto-Tuning
The auto-tuning procedure on the application disk should
work satisfactorily if the following conditions apply:
1. The feedback encoder is connected to the motor shaft.
2. You have a servo drive with reasonable performance
characteristics.
3. You have a mechanical system that can move in both
directions.
4. The motor is able to run at or near maximum velocity for
a number of revolutions (for the purposes of auto-tune
dynamics and feedforward gain).
5.2.2 Manual Tuning
If auto-tuning does not yield satisfactory performance or your
system does not permit auto tuning you will need to tune
your system manually. The five gain parameters must be
adjusted in the following order:
1. Deadband Compensation (set to zero)
2. Velocity Gain
3. Proportional Gain
4. Integral Gain
5. Feedforward Gain
In general, each parameter is tuned by starting with a small
value, evaluating the response of the system, and then
increasing the value until the desired response is achieved.
Once a gain has been tuned, it should be left at its tuned
value and the next gain should be adjusted.
Use the following steps to tune the axis manually. When
adjusting gains, double or halve the previous value,
whichever is appropriate, until you are close to the desired
gain. Then use smaller increments to reach the precise