Rockwell Automation LDAT Integrated Linear Thrusters - Manual (Page 44)

44 LDAT-Series Integrated Linear Thrusters
Rockwell Automation Publication LDAT-IN001A-EN-P - August 2012
Tune with Incremental 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 incremental 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. Set the Feedback Filter Time Constant to 1 ms.
5. Enable the drive.
6. Click Autotuning.
7. We recommend you check Position Tuning and Velocity Tuning.
8. Set the Travel Limit to 50.0 User Units.
9. Click Start.
The linear thruster will oscillate.
10. To accept the autotune parameters, click Yes
Fine Tune
To increase the precision of the positioning of your linear thruster use the Position I-Gain and
increase the Position I-Limit to a value > 1.
Home
To home your linear thruster with an incremental encoder you must have a home switch
installed. We recommend you wire a home switch to Input B1.
Follow these steps to home the linear thruster.
1. Disable the axis.
2. From the General category set Drive Mode to Indexing.
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