User manual

160 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 7 Commission
Polarity Dialog Box
If you have run the Motor and Feedback Hookup Test, the settings on the
Polarity dialog box are already correct for the application. If the polarity settings
are known and cables to the motor and feedback devices are prefabricated and
tested, the polarity settings can be entered on this dialog box.
At this point in the commissioning process, the axis is ready for operation. You
may use Direct Commands to initiate axis motion or you may run your
application program. If you find that the dynamic performance of your axis does
not meet your system requirements, use Autotune to improve performance.
Autotune Dialog Box
Once you have set the parameters and performed tasks in the General, Motor,
Motor Feedback, Scaling, Hookup Test, and Polarity dialog boxes, you are ready
to Autotune, if needed. These steps are included in Autotune.
• Select the Application Type, Loop Response, and Load Coupling.
• Set the Travel Limit, Speed, Torque, and Direction.
• Perform Tune.
• Review results.
Autotune is optional. Typically you don’t use Autotune or Manual Tune. Once
you select your drive and use the Motion Database as the data source, the defaults
often provide adequate tuning performance.
In most cases, the software default calculations are adequate and Autotune and/
or Manual Tune should not be needed. Depending on the application type and
axis configuration, you may need to use Manual Tune.
See Manual Tune an Axis on page 195
.
1. Click the Autotune dialog box.
ATTENTION: When you tune an axis, it moves even with the controller
in Remote Program mode. In that mode, your code is not in control of
the axis. Before you tune an axis, make sure no one is in the way of the
axis.