Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 183
Tuning Chapter 9
For parameter descriptions and data, see the Knowledgebase article 1090034
Kinetix 5100 Servo Drive Parameter Data and Fault Codes.
Inertia Estimation
Requirements for Inertia estimation:
• Motor speed increases from 0 rpm…3000 rpm within 1.5 seconds.
• It is suggested to set the speed to 500 rpm or greater. The lowest speed
should be no less than 200 rpm.
• The load inertia should be less than 50 times the motor inertia.
• The change in the external force or inertia ratio cannot be too great.
Tuning Mode 1 in KNX5100C Software
You can use KNX5100C software for manual tuning in Mode 1 by choosing
Manual Tuning from the Function List and selecting Mode 1.
Table 69 - Tuning Mode 1, Related Parameters
ID217 (P2.032)
Setting Value
Tuning Mode Inertia Estimation Parameter
Manual Tuning Autotuning
1 Tuning Mode 1 Real-time estimation ID216 (P2.031) ID144 (P1.037)
ID185 (P2.000)
ID189 (P2.004)
ID191 (P2.006)(
ID208 (P2.023)
ID209 (P2.024)
ID210 (P2.025)
ID229 (P2.046)
ID226 (P2.043)
ID 227 (P2.044)
ID228 (P2.045)
ID232 (P2.049)
ID257 (P2.098)
ID258 (P2.099)
ID260 (P2.101)
ID261 (P2.102)
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