218 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 9 Tuning
Tuning in Manual Mode Nested P-I Loop Gain Adjustment
There are two types of gain adjustment for the position and velocity loops: auto
and manual.
Auto adjustment is achieved when an Auto Tuning procedure is executed in
the Kinetix 5100 drive.
For a detailed description, refer to Autotuning
on page 203.
Manual adjustment is when the inside-out tuning method is used and user
adjustments are made.
Manual Mode Tuning
Manual tuning can result in the optimum performance for complex
mechanisms. See Motion System Tuning, publication MOTION-AT005
for
more information regarding tuning in manual mode. You can reference this
publication for best practices that are common to inside-out tuning.
Table 81
lists parameters used in Manual Mode tuning.
The machinery stiffness and the application determines the selection of the
position and speed response frequency. Generally, for applications or
machines that require high speed and high precision, higher bandwidth is
required. However, increasing the bandwidth might cause resonance.
Table 81 - 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)
ID211 (P2.026)
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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