Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 219
Chapter 9 Tuning
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 until the
resonance is removed. You can use the System Analysis test to diagnose
resonant frequencies, also there are many FFT (Fast Fourier Transform) tools
that you can use to diagnose resonant frequencies. You can use the drive
filtering described in F
ilter on page 256. Generally, if the dominant resonant
frequency is within the servo loop bandwidth, the gain values (and system
response) must be lowered.
The following are the descriptions of the gain adjustment parameters used
with different application types.
Table 82 - Gain Selection Based on Application Type
Application Type Applications
K
PI
K
VI
Integrator Hold
K
VFF
K
AFF
Basic Basic smooth motion X
Tracking
•Converting
•Printing
•Web
• Flying shear
• Coordinated motion
• Rotary knife
•Packaging
XXX
Point to Point
•Pick and place
•Indexing
•Robotics
• Palletizing
XX
Constant Speed
•Conveyors
• Line shafts
•Cranks
XX
Positioning High performance position control X X X
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