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Tune servo – Rockwell Automation GMLC Reference Manual User Manual

Page 138

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Publication GMLC-5.2 - November 1999

Tune Servo

101

Note: The Battery Box test applies only to a Velocity Drive Interface (as

set in the Servo page).

Tune Servo

The Tune Servo page performs tuning routines that determine the proper
settings for a servo axis’ servo loop parameters. These parameters
include: Proportional (P), Velocity (V), Integral (I) and Velocity
Feedforward (F) gains, as well as Maximum Speed, Maximum
Acceleration and Maximum Deceleration values. When tuning is
complete, GML Commander automatically sets these values in the Gains
and Dynamics pages of this dialog box.

Usually, these servo loop parameters need to be tuned only once, when
the motion controller is first integrated onto 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 servo drive (amplifier) is
replaced for any reason, re-tuning these servo loop parameters may be
necessary.

Tuning Your 1394

If you are using a 1394 controller, use this procedure to tune your drive,
axes, and motors. When you enter values in the fields in this dialog box
and select Tune Gains, GML Commander automatically sets values in the
Gains and Dynamics dialog boxes.

Note: If necessary, you can change the default start-up values on the

Gains and Dynamics dialog boxes while you are offline or fine-
tune the working values for a single, online test run.

!

ATTENTION: All tuning tests can cause motion upon
selection. Keep clear of dangerous moving machinery.