Autotune an axis

Use the
Autotune
 page in the
Axis Properties
 dialog box to autotune an axis to improve the performance of the system.
TIP:
The
Autotune
page is available only when
Axis Configuration
 on the
Genera
l page is set to
Position Loop
 or
Velocity Loop
.
To autotune an axis:
  1. On the
    General
    page, in the
    Axis Configuration
     list, select
    Position Loop
     or
    Velocity Loop
    .
  2. Select the
    Autotune
    category.
  3. In the
    Application Type
    , select an application type.
  4. Under the
    Measure Inertia using Tune Profile
     check box, click the type of tune to perform (
    Motor with Load
     or
    Uncoupled Motor
    ).
  5. Enter values for the
    Travel Limit
    ,
    Speed
    ,
    Torque
    ,
    and then from the
    Direction
    list, select the desired direction for the tune.
    The tune operates while online with the controller with the axis in a Servo Off mode.
  6. Select a custom application type and select which gains are to be used in the tuning operation.
  7. Under the
    Advanced Compensation
    collapsible group, select values for Inertia, Friction, and Active Torque, and then recalculate the tune data with these modifications.
  8. Select
    Start
    .
    • If there are pending edits present on the axis, apply the edits before executing the tune operation. The start is issued.
    • If doing a measure tune, a start tune request is made to the controller. The controller performs the tune.
    • The tune status indicator indicates when the tune is complete. If the tune fails, the
      Accept Tune Values
       button is disabled, but the values that are calculated are updated in the grid to review them.
  9. If the tune was successful, select the tune values to save the calculated values in the axis. If the tune failed, review the data to detect a problem.
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