User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 161
Commission Chapter 7
The Application Type, Loop Response, and Load Coupling settings are
conveniently grouped at the top left of the Autotune dialog box. These
three attributes control the Autotune servo loop gain and filter bandwidth
calculations.
These are the same settings you made on the General dialog box. You can
change them here, if desired.
Autotune normally applies a Tune Profile to briefly accelerate and
decelerate the motor to measure its inertia. The measured inertia is
normally used to establish the overall System Inertia. However, if the
Uncoupled Motor box is checked, the measured inertia is applied to Motor
Inertia attribute.
To configure the Tune Profile, you enter the Travel Limit, Speed, Torque,
and Direction.
2. Set the Travel Limit that is based on the travel constraints of the machine.
Choose whether the motor is
coupled to the load or not.
If this box is checked, the Autotune
moves the motor using a Tune
Profile to measure inertia.
If this box is not checked, gain and
filter bandwidth calculations are
still made but the inertia is not
measured.