Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 203
Chapter 9 Tuning
Autotuning Autotuning can be performed via KNX5100C software or via the drive panel.
Currently, autotuning cannot be performed via Studio 5000 Logix Designer®
application. Autotuning works best when performed on a mechanism with a
load ratio (load:motor inertia ratio) of < 50:1.
Through the autotuning function, the servo drive helps you find the most
suitable parameters for your mechanical system. The values of the parameters
listed in the following tables can change as a result of autotuning.
Autotuning Configuration Parameters
Parameters ID264 (P2.105) AutoTuningBandwidth and ID265 (P2.106) Auto
TuningOvershoot can be used to adjust the responsiveness and stiffness,
respectively, in autotuning mode.
Table 76 - Gain-related Parameters
Parameter Name
ID144 (P1.037) LoadInertiaRatio
ID185 (P2.000) PositionProportionalGain
ID189 (P2.004) VelocityProportionalGain
ID191 (P2.006) VelocityIntegralGain
ID216 (P2.031) SystemGainResponseLevel
ID217 (P2.032) GainAdjustMode
Table 77 - Filter and Resonance Suppression Parameters
Parameter Name
ID135 (P1.025) LowFreqVibrationSuppression1Frequency
ID136 (P1.026) LowFreqVibrationSuppression1Gain
ID137 (P1.027) LowFreqVibrationSuppression2Frequency
ID138 (P1.028) LowFreqVibrationSuppression2Gain
ID208 (P2.023) NotchFilter1Frequency
ID209 (P2.024) NotchFilter1Depth
ID210 (P2.025) ResonanceSuppressionLowPassFilterTime
ID226 (P2.043) Notch Filter2Frequency
ID227 (P2.044) Notch Filter2Depth
ID228 (P2.045) Notch Filter3Frequency
ID229 (P2.046) Notch Filter3Depth
ID232 (P2.049) VelocityFeedbackLowPassFilterTime
ID257 P(2.098) Notch Filter4Frequency
ID258 P(2.099) Notch Filter4Depth
ID260 P(2.101) Notch Filter5Frequency
ID261 P(2.102) Notch Filter5Depth
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