User manual

202 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 9 Manual Tune
The Compensation tab lets you input scaling gain and friction offset values.
The Filters tab lets you input torque values.
Attribute Description
System Inertia Torque or force scaling gain value that converts commanded acceleration
into equivalent rated torque/force.
Torque Offset Provides a torque bias when performing closed loop control.
Friction Value added to the current/torque command to offset the effects of
coulomb friction.
Friction Compensation Value added to the current/torque command to offset the effects of
friction.
The Kinetix 350 drive does not support this parameter.
Backlash Compensation Defines a window around the command position.
Load Observer Configuration Configures the operation of the Load Observer.
Load Observer Bandwidth Determines the proportional gain, Kop, of the load observer.
Load Observer Integral Bandwidth Determines the load observer integral gain, Koi, that together with the
Kop, multiplies the integrated error signal within the observer.
Attribute Description
Torque Low Pass Filter Bandwidth Break frequency for the second order low pass filter that is applied to the
torque reference signal.
Torque Notch Filter Frequency Center frequency of the notch filter that is applied to the toque reference
signal.
Torque Lag Filter Gain Sets the high frequency gain of the torque reference Lead-Lag Filter.
Torque Lag Filter Sets the lag filter that is applied to the torque reference filter.
Adaptive Tuning Configuration Configured advanced gain tuning options. The modes for the adaptive tuning
include:
• Disabled
• Notch Filter Tuning
• Gain Stabilization
• Notch Filter Tuning and Gain stabilization