User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 201
Manual Tune Chapter 9
Additional Tune
The Additional Tune tabs are available for both the Kinetix 6500 and
PowerFlex 755 drives. The attributes that appear on the tabs are determined by
the type of drive you are using.
See the Integrated Motion on the EtherNet/IP Network Reference Manual,
publication MOTION-RM003
, for detailed information about the
AXIS_CIP_DRIVE attributes.
Additional Tune for the Kinetix 6500 Module
The Additional Tune section gives you access to additional tuning parameters,
typically needed for more advanced servo loop settings. Additional Tune for the
Kinetix 6500 module provides access to five parameter tabs:
• Feedforward
• Compensation
• Filters
• Limits
• Planner
The Feedforward tab lets you adjust velocity and acceleration feedforward.
TIP
You may need to turn all your toolbars off to see the complete screen. When
you’re done, choose View>Toolbars>Factory Defaults, or turn on the
toolbars you want to see.
Attribute Description
Velocity Feedforward Command A command signal that is a scaled version of the command velocity profile.
Acceleration Feedforward Command A signal that is a scaled version of the command acceleration profile.