Rockwell Automation LDAT Integrated Linear Thrusters - Manual (Page 43)

LDAT-Series Integrated Linear Thrusters 43
Rockwell Automation Publication LDAT-IN001A-EN-P - August 2012
2. From the Motor category, set the Feedback>Encoder parameters to the following.
3. From the Motor category, click Check Phasing.
Tune with Absolute Encoder
The linear thruster is a direct drive actuator. Tuning the linear thruster establishes a stable axis.
Follow these steps to tune the linear thruster with an absolute encoder.
1. Attach your application load to the linear thruster.
2. From the General category, set the Drive Mode to Auto Tune.
3. From the Dynamics category, set the Feedback Filter to On.
4. Enable drive.
5. Click Autotuning.
6. We recommend you check Position Tuning and Velocity Tuning.
7. Set the Travel Limit to 50.0 User Units.
8. Click Start.
The linear thruster will oscillate.
9. To accept the autotune parameters, click Yes.
10. Adjust the Gain Scaling by adding -1.
11. Set the Feed back Filter to Off
Parameter Value
Resolution (x1) 20 μm
Resolution (x4) 5 μm
Halls order 3
Inverted Checked
B lead A for forward Unchecked
ATTENTION: Before you tune your linear thruster read and understand Preventing Undetected and
Repetitive High Energy Impacts and Preventing Reduced Dynamic Control Performance on page 39