Manual Tune page

Use the parameters in the
Manual Tune
 page to manually tune the gains for optimum performance. Use the motion generator parameters to move the axis to test changes to the servo loop parameters.
NOTE: Manual tuning is only available for Position Loop and Velocity Loop application types.
Manual Tune parameters
Parameter
Description
Reset
Returns the values to the state they were in at the time the dialog box opened.
This only resets values on this dialog box.
System Bandwidth
Type a value or move the slider to enter the overall bandwidth of the drive's servo loop.
System Damping
Type a value or move the slider to enter the overall damping of drive's servo loop. Valid values are in the range of 0.5 to 2.0. The slider forces the value into the range of 0.8 to 1.5.
Tuning Configuration
Click
+
 to display the current
Application Type
,
Coupling
 and
Gains to Tune
settings.
  • Position Integrator Bandwidth
     applies only when on the
    General
     page,
    Axis Configuration
     is set to
    Position Loop
     and
    Application Type
     is set to
    Custom
    .
  • Velocity Integration Bandwidth
     applies only when
    Application Type
     is set to
    Custom
    .
Position Loop
The Position Loop parameters are available when the
Axis Configuration
 on the
General
 page is set to
Position Loop
.
Loop Bandwidth
Select a value for the loop bandwidth for the position loop. Valid values are in the range of 0 to Max Float.
Integrator Bandwidth
Select a value for the integrator bandwidth for the position loop. Valid values are in the range of 0 to Max Float.
Integrator Hold
Select whether to enable or disable the integrator hold for the velocity loop.
Error Tolerance
Select a value for the error tolerance for the position loop. Valid values are in the range of 0 to Max Float.
Velocity Loop
The Velocity Loop Parameters are available when the
Axis Configuration
 on the
General
page is set to
Velocity Loop
.
Loop Bandwidth
Select a value for the integrator bandwidth for the velocity loop. Valid values are in the range of 0 to Max Float.
Integrator Bandwidth
select a value for the integrator bandwidth for the velocity loop. Valid values are in the range of 0 to Max Float.
Integrator Hold
Select whether to enable or disable the integrator hold for the position loop.
Error Tolerance
Select a value for the error tolerance for the velocity loop. Valid values are in the range of 0 to Max Float.
Additional Tune Panel
Select to configure the feedforward, compensation, filters, limits, planner, and adaptive tuning options, and torque notch, torque, and command notch filters.
Motion Generator parameters
Parameter
Description
Commands
Displays list of supported Motion Direct commands.
More Commands
Select to open the
Motion Direct Command
 dialog box to execute specific motion instructions while online.
Danger
Display a warning message.
Instruction Status
Displays the Motion Direct Command execution status (execution error).
Safe Torque Off bypassed
Displays warning when the drive is a CIP Safety drive and the
Safety State
 is
Not Configured (Torque Permitted)
 or
Not Running (Torque Permitted)
.
Axis State
Displays the state of the axis. For CIP axis, this control is associated with the CIP Axis State attribute.
This parameter is available in online mode.
Safety State
Displays the state of the CIP Safety drive.
This parameter is available when the drive is a CIP Safety drive and in online mode.
Axis Fault
Displays the fault state of the axis.
The parameter is available in online mode.
Start Inhibited
Displays the current state that inhibits the axis from starting.
Execute
Used to execute the selected Motion Direct Command. The button is available in online mode.
Disable Axis
Used to send a disable axis direct command to the controller. This button is available in online mode.
Additional Tune
Displays additional tuning attributes.
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