Rockwell Automation Publication 750-AT006D-EN-P - January 2022 45
Chapter 2 Product Features
above the threshold. This additive increment is fixed and equal to 10:2136 [GnOpt Scale Inc] when error threshold 10:2139 [GnOptPosErrThrsh]
or 10:2140 [GnOptVelErrThrsh] is zero. See Figure 46 on page 46.
In contrast, when an LF resonance is detected with a magnitude greater than the 10:2134 [GnStab TorqueLim] threshold line, Gain
Stabilization decreases 10:2121 [AdptTune GnScale] in multiplier increments of 0.75x until the LF resonance magnitude decreases below the
threshold.
While in position mode, a position error threshold 10:2139 [GnOptPosErrThrsh] can be set to increase 10:2121 [AdptTune GnScale] in
increments = 10:2136 [GnOpt Scale Inc] * (scaler proportional to error) until 10:2130 [AdptTuneStab Mag] increases above the
10:2135 [GnOpt TorqueLim] line, or until the position error is less than 10:2139 [GnOptPosErrThrsh].
When 10:2137 [GnOpt Error Type] = 'Peak' (0), the position error condition is monitored all the time and when
10:2137 [GnOpt Error Type] = 'Steady State' (1), the position error condition is only monitored during steady state.
When 10:2139 [GnOptPosErrThrsh] is set to zero, this feature is disabled and the gain scale increment is restored to a fixed value equal to
10:2136 [GnOpt Scale Inc]. See Figure 46 on page 46
.
While in velocity mode, a velocity error threshold 10:2140 [GnOptVelErrThrsh] can be set to increase 10:2121 [AdptTune GnScale] in
increments = 10:2136 [GnOpt Scale Inc] * (scaler proportional to error) until 10:2130 [AdptTuneStab Mag] increases above the
10:2135 [GnOpt TorqueLim] line, or until the velocity error is less than 10:2140 [GnOptVelErrThrsh].
When 10:2137 [GnOpt Error Type] = 'Peak' (0), the velocity error condition is monitored all the time. When
10:2137 [GnOpt Error Type] = 'Steady State' (1), the velocity error condition is only monitored during steady state.
When 10:2140 [GnOptVelErrThrsh] is set to zero, this feature is disabled and the gain scale increment is restored to a fixed value equal to
10:2136 [GnOpt Scale Inc]. See Figure 46 on page 46
.
A timer can be set to automatically switch from Gain Optimization mode to Gain Stabilization mode after a period of time set by 10:2142
[GnOpt Time]. This is good for cyclic applications that index between two speeds or operating points. In such applications, a lower speed
triggers gain optimization each machine cycle while a higher speed triggers gain stabilization each machine cycle. However, repeated gain
stabilization can cause degradation because it reacts to momentary instability.
This timer feature is disabled when 10:2142 [GnOpt Time] is set to zero, which is typical for constant speed or non-cyclic applications.
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