Rockwell Automation 2094-xMxx-S Kinetix 6000 Multi-axis Servo Drives User Manual - Manual (Page 245)

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 245
Configure the Load Observer Feature Appendix D
d. Decrease the gains by using the previous equations with N = 0.5.
A typical range of values for various integral gains are given:
• 0 ≤ Load Observer Integral Gain ≤ Load Observer Proportional
Gain/4
• 0 ≤ Velocity Integral Gain ≤ Velocity Proportional Gain 2
/4000
e. If the Low-pass Output Filter is enabled, a typical range of values for the
Low-pass Output Filter Bandwidth are given:
• Rigid: Low-pass Output Filter Bandwidth ≥ Velocity Proportional
Gain x 2/(2pi)
• Compliant: Low-pass Output Filter Bandwidth ≥ Velocity
Proportional Gain x 5/(2pi)
4. Manually tune the position loop.
a. Restore the Position and Feedforward Gains to the original values to re-
enable the position loop.
b. While Jogging the axis and monitoring the Torque Reference trend,
incrementally increase the following gains simultaneously and stop
when the Torque Reference begins to become oscillatory or unstable:
• Position Proportional Gain = Position Proportional Gain x N
• Position Integral Gain = Position Integral Gain x N
2
c. Decrease the gains by using the previous equations with an N = 0.5.
A typical range of values for the Position Integral Gain is given:
0
≤ Position Integral Gain ≤ Position Proportional Gain 2
/4000