Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 169
Chapter 9
Tuning
This chapter provides information about tuning.
Tuning Process
The autotuning function enables the system to do a real-time mechanism inertia
estimation and upload the velocity and position loop control gains, resonance
suppression filter parameters, and so on. If autotuning does not provide suitable
performance, then tuning mode 1, tuning mode 2, and the manual tuning mode
can be used.
The flowchart in Figure 70
provides an overview of the tuning process.
Topic Page
Tuning Process 169
Autotuning 170
Tuning via Tuning Mode 1 and Tuning Mode 2 181
Tuning in Manual Mode 188
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