User manual

164 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 7 Commission
Now you can run the system with the new gain set and evaluate
performance. You can improve the performance by adjusting application
type, loop response, and/or load coupling selections.
Load Dialog Box
The Load dialog box contains the characteristics of the motor load. You can also
use the values that are provided by autotune. Most of these values are
automatically set by the Autotune:
• If you use the Catalog Number as the Data Source, the Motor Inertia,
Total Inertia, and System Inertia are pre-populated with the correct values.
• If you know what the Load Ratio values are, you can enter that
information on the Load dialog box or you can use the values that are
provided by Autotune.
Kinetix 6500 Load Dialog Box
TIP
If your application requires stricter performance, you can further improve
performance with manual tuning.
See Manual Tune an Axis on page 195
.
Table 18 - Load Inertia/Mass Parameter Descriptions
Parameter Description
Load Coupling Lets you control how tightly the system is physically coupled. Your choices are the
following:
• Rigid (default)
• Compliant
Load Coupling appears dimmed when the axis is Servo On.
Inertia Compensation Inertia compensation controls relate to rotary motors.
Load Ratio The Load Ratio attribute’s value represents the ratio of the load inertia or mass to the
motor inertia, or mass.
Motor Inertia The Motor Inertia attribute is a float that specifies the unloaded inertia of a rotary motor.
This control is calculated based on the load inertia ratio. Generally it is not equal to 0 for
Kinetix drives and equal to 0 for PowerFlex 755 drives.