188 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 9 Tuning
Tuning in Manual Mode
Tab l e 71 lists parameters used in Manual Mode tuning.
The selection of the position and speed response frequency should be determined
by the machinery stiffness and the application. Generally, for applications or
machines that require high speed and high precision, higher frequency response
bandwidth is required. However, increasing the response bandwidth might cause
resonance. Thus, machinery with higher stiffness is used to solve this problem.
When the resonance frequency is unknown, you can gradually increase the gain
parameter values to increase the system response bandwith until you hear the
sound of resonance. Then, decrease the gain parameter values.
The following are the descriptions of the gain adjustment parameters.
Table 71 - Manual Mode Tuning
ID 217 (P2.032)
Gain Adjustment
Mode Setting
Tuning
Mode
Inertia estimation Parameter
Manual Tuning Autotuning
0 Manual Value of ID144 (P1.037) ID144 (P1.037) –
ID188 (P2.000)
ID189 (P2.004)
ID191 (P2.006).
ID208 (P2.023)
ID 209 (P2.024)
ID210 (P2.025)
ID226 (P2.043)
ID227 (P2.044)
ID228 (P2.045)
ID229 (P2.046)
ID232 (P2.049)
ID257 (P2.098)
ID258 (P2.099)
ID260 (P2.101)
ID 261 (P2.102
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