User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 203
Manual Tune Chapter 9
The Limits tab lets you input peak, velocity, and accel/decel values.
Configure Torque Values
The torque values are additional tuning parameters that are typically needed by
more advanced servo loop settings. The values that appear are determined by the
type of drive you are using.
Follow these steps to configure torque values:
1. Right-click an axis and click Manual Tune.
2. In the bottom left corner of the Manual Console dialog box, click
Additional Tune to display the additional tune tabs.
3. Click the Filters tab to access the torque values.
4. Adjust the torque values as desired.
5. After you adjust the values, click Additional Tune to close the tabs.
The Planner tab lets you input the maximum values for acceleration and
deceleration.
Torque Notch Filter High Frequency
Limit
The high frequency limit for vibration suppression. The value must be greater
than the Torque Notch Filter Low Frequency Limit value.
The default Torque Notch Filter High Frequency limit is 1000 Hertz
Torque Notch Filter Low Frequency
Limit
The low frequency limit for vibration suppression. The value must be less than
the Torque Notch Filter High Frequency Limit value.
The default Torque Notch Filter Low Frequency limit is 100 hertz.
Torque Notch Filter Tuning Threshold Enter a threshold valued for the resonance frequency identified by the tuning
algorithm. The magnitude of an identified natural resonance frequency must
be higher than this threshold value to be applied to the Torque Notch Filter
Frequency estimate.
The default value is 5.0% Motor Rated.
Attribute Description
Peak Torque Limit Floating point that is based on calculations using Max Motor Torque, Max Drive
Torque, Motor Peak Current, Motor Rated Current, and Drive Peak Current
attributes.
Velocity Limit Positive or Negative velocity reference value.
Acceleration Defines the maximum acceleration (increasing speed) allowed for the
acceleration reference value into the acceleration summing junction.
The Kinetix 350 does not support this attribute.
Deceleration Defines the maximum deceleration (decreasing speed) allowed for the
acceleration reference signal into the acceleration summing junction.
Attribute Description